  This article considers a cooperative vehicle routing problem for an
intelligence, surveillance, and reconnaissance mission in the presence of
communication constraints between the vehicles. The proposed framework uses a
ground vehicle and an Unmanned Aerial Vehicle (UAV) that travel cooperatively
and visit a set of targets while satisfying the communication constraints. The
problem is formulated as a mixed-integer linear program, and a branch-and-cut
algorithm is developed to solve the problem to optimality. Furthermore, a
transformation method and a heuristic are also developed for the problem. The
effectiveness of all the algorithms is corroborated through extensive
computational experiments on several randomly generated instances.
