  We consider a cooperative vehicle routing problem for surveillance and
reconnaissance missions with communication constraints between the vehicles. We
propose a framework which involves a ground vehicle and an aerial vehicle; the
vehicles travel cooperatively satisfying the communication limits, and visit a
set of targets. We present a mixed integer linear programming (MILP)
formulation and develop a branch-and-cut algorithm to solve the path planning
problem for the ground and air vehicles. The effectiveness of the proposed
approach is corroborated through extensive computational experiments on several
randomly generated instances.
