Review

With the continuous increase in car ownership in urban areas, congestion, traffic
accidents, and other adverse factors seriously affect the operation of the urban traffic system
[1], which is huge challenge for traffic management departments. To maintain the stability of
the urban traffic system, a traffic petrol of the urban road network is essential. In a paper by
XXX, traffic congestion is more likely to lead to aggressive driver that is associated with
increased crash rinks. Therefore, to avoid traffic accidents, route planning algorithms such as
the classic Dijkstra’s Algorithm is introduced to speed up the travelling time between point A
to point B. It is an algorithm used for finding the shortest paths between nodes in a graph,
which may represent the road networks and more point-to-point graphs. However, traffic
condition is the main problem when comes to route planning. Although the shortest path can
be calculated using the algorithm, the traffic condition might not allow driver to travel point
A to point B freely. The challenges in modern city route planning required tons of traffic
information to look for an alternative path from the starting point to the destination. In a
paper published by [ Paper #1 ]. They studied a vehicle-drone arc routing problem (VD-ARP)
which consist of multiple drones and one vehicle. The civil drones are utilized to make full
use of their mobility, flexibility, and timeliness, which ease the data collecting process of
current traffic condition. Drones are less limited to ground traffic and can perform better in
places that are difficult for vehicles to reach. However, the ability of drones is somehow
limited by their battery capacities. Thus, optimizing the movement or usage of drones is the
crucial in this paper. In the past few years, research on coordinated vehicle-drone routing was
mostly applied to parcel deliveries [ Paper #1 – [5] ]. For instance, Chu and Murray [ Paper
#1 – [4] ] first proposed the flying sidekick traveling salesman problem (FSTSP) in 2015
which aims to study the parcel delivery problem utilizing both vehicle and drone. In this
problem, the drone is limited to one customer per launching from the vehicle and the recover
or collection of drones must be done manually. Furthermore, Agatz et al [ Paper #1 – [6] ]
introduced a traveling salesman problem with drone (TSP-D) and resolved it with a heuristic
approach. In contrast with FSTSP, the drone can be recovered from where it is initially
launched. In other words, the drone is capable to be launched and returned to its original
node. These two studies are mainly focused on parcel delivery problem as the research
involved a lot of complex constraints, such as different objective function, time windows,
heterogenous drones, and simultaneous pickup and delivery. In addition, these complex
constraints are overcome with various approaches such as heuristic methods, a genetic
algorithm, a simulated annealing algorithm, and variable neighborhood search algorithm were
formulated. Although, some of the above studies emphasized on vehicle-drone coordination
and parcel delivery. Nevertheless, they are still variant of the vehicle routing problem (VRP)
[ Paper #1 [16] ].

Other than vehicle-drone coordination, handling emergencies and road conflicts are also
the key aspect in urban traffic management [ Paper #1 – [21] ]. To properly manage urban
traffic, traffic patrols plays an important role to respond and prevent urgent situation. Traffic
patrols allow intervene in congestion and monitor vehicle violations, as well as road facilities
and equipment. In a paper by [ Paper #1 – [22] ], the researchers investigate the expression,
evaluation, execution, and engagement of patrol routing algorithms for accident-prone
locations on roads which served some of the organizations such as ambulance crews and
policies when an emergency routes needed. On the other hand, Jalili et al. [Paper #1 – [23]]
developed a set of comprehensive measured for highway patrol agencies to measure and
improve the management effectiveness, in order to improve road network safety. This
performance measure is composed. Additionally, Li et al. [Paper 1# -[24] ] propose a new
evaluation standard to evaluate the effect of traffic patrols in emergency situations. Chawathe
et al. [ Paper 1# -[25] ] introduced a solution to resolve the problem of patrol route planning
mainly focuses on maximizing the coverage of patrol locations, and minimizing the length of
patrol routes. Besides, some studies also include the usage of drone when comes to traffic
patrols. Wang et al. [ Paper 1# - [26] ] paper emphasized on exploring the vehicle speed
behaviors in freeway work zones with considerations for lane and location deviations based
on the video recorded using drones. The vehicle speed is analyzed through data collected by
drones in order to monitor the current road network. Besides, Munishikin et al. [ Paper #1
[27] ] and Wu et al. [ Paper #1 28 ] propose an information transmission model and an
adaptive data processing system for vehicles and drones respectively, providing theoretical
support for a coordinated traffic patrol of vehicles and drones.

When segments of the road network are the patrol objectives for vehicles and drones, this
problem is described as a variant of the arc routing problem [ Paper #1 [17] ]. The arc routing
problem was defined based on graph theory, and there are many studies related to arc routing
problems which include the famous Chinese postman problem (CPP), rural postman problem
(RPP) and capacitated arc routing problem (CARP). In a paper by Dai et al. [ Paper #8 ], the
researchers propose a belief propagation (BP) algorithm which is derived from message
passing algorithm. It is a class of extremely powerful distributed iterative algorithms based on
probabilistic graphic model and this algorithm is capable to iterate computational task on
minimal data structure. Besides, Yang et al. [Paper #9] study the vehicle routing problem in
rural areas by restructuring the RPP problem. They introduced information fusion system and
ordering interface system to formulate the problem and resolved by using their proposed
branch-price-and-cut-algorithm. The proposed algorithm is developed heuristically to obtain
various high-quality routing solutions. Furthermore et al. [ Paper #1 [40] ] study a multi-
depot RPP, in which each route starts and ends at the same depot, and develop a branch-and-
cut algorithm. Zhang et al. [ Paper #1 [41] ] focused on large-scale multidepot capacitated arc
routing problem (LSMDCARP) which is a variant of capacitated arc routing problem
(CARP). The CARP has gained a lot of attention for its various practical applications. To
solve the complex version of CARP, Zhang et al. [ Paper #1 [41] ] propose an iterative
improvement heuristic utilizing breaking the original LSMDCARP into a smaller subset
using clustering and route cutting off techniques. Each smaller single-depot CARP
subproblem is then solved using local search and effective Ulu soy’s split operator.

Recently, the optimization of routing problems using drones has become a popular topic
for academic research as the widespread use of drones has extended the arc routing problem o
another level, since drones are capable to travel between any two nodes without the
restriction of the road network. Campbell et al. [Paper #1 [44] ] uses multiple drone to study
the arc routing problems (APRs) and also the well-known postman APRs. The researchers
fully utilized the flexibility of drone to monitoring the traffic conditions by flying over
roadways. Thus, drone APRs involved a lot of continuous optimization problem with an
infinite number of feasible solutions, the team come out with an algorithm that iteratively
solves the rural postman problem (RPP) instances with an increasing number of points of the
polygonal chain and present results on several sets of instances. However, the above studies
on arc routing are all for the route planning of a patrol platform (vehicles or drones), while
this paper considers both vehicles and drones, which is more complex combinatorial
optimization problem.
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To overcome limitation of battery capacities of drone, Wu et al proposed a way to replace the

battery of the drone by landing it to the nearest vehicle while not visiting any tasks. This
ensures that drones are ready and well prepared before executing their next flight.