## The Cyclic-Routing UAV Problem is PSPACE-complete

*Hsi-Ming Ho* and
*Joël
Ouaknine*
Consider a finite set of targets, with each target assigned a
*relative deadline*, and each pair of targets assigned a
transit *flight time*. Given a flock of identical UAVs, can one
ensure that every target is repeatedly visited by some UAV at
intervals of duration at most the target's relative deadline? The
*Cyclic-Routing UAV Problem* (CR-UAV) is the question of whether this task has a
solution.

This problem can straightforwardly be solved in PSPACE by
modelling it as a network of timed automata. The special case of there
being a single UAV is claimed to be NP-complete in the literature. In
this paper, we show that the CR-UAV Problem is in fact PSPACE-complete
even in the single-UAV case.

*Proceedings of FOSSACS 15*, LNCS 9034, 2015. 19 pages.

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Springer-Verlag.

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