A two-phase matheuristic for the multi-robot routing problem under connectivity constraints

National audienceRouting a fleet of robots in a known surface is a complex problem. It consists in the determinationof the exact trajectory each robot has to follow to collect information. The objective isto maximize the exploration of the given surface. To ensure the robots can execute the missionin a collaborative manner, connectivity constraints are considered. These constraints guaranteethat robots can communicate among each other and share the collected information. Moreover,the trajectories of the robots need to respect autonomy constraints