We consider a Persistent Intelligence, Surveillance and Reconnaissance (PISR)routing problem, which includes collecting data from a set of specified tasklocations and delivering that data to a control station. Each task is assigneda refresh rate based on its priority, where higher priority tasks requirehigher refresh rates. The UAV team's objective is to minimize the maximum ofthe delivery times of all the tasks' data to the control station, whilesimultaneously, satisfying each task's revisit period constraint. Thecentralized path planning problem for this PISR routing problem is formulatedusing mixed integer linear programming and solved using a branch-and-cutalgorithm. Heuristics are presented to find sub-optimal feasible solutions thatrequire much less computation time. The algorithms are tested on severalinstances and their performance is compared with respect to the optimal costand computation time.
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