Trustworthiness analysis of heuristic routing algorithm with special constraints for autonomous vehicles in surveillance and coverage operations

Deniz Kenan Kılıç, Peter Nielsen, Fabian Miehe and Mohamed El Yafrani

International Journal of Systems Science, 2025, vol. 56, issue 11, 2717-2734

Abstract: This article aims to develop a fast, trustworthy routing algorithm for autonomous vehicles without requiring learning data, where the routing problem with special constraints and features is an extended version of the orienteering problem. For this, firstly, the method for selecting trustworthiness requirements is discussed to map relevant trustworthiness methods to stages in the system lifecycle. Then, a heuristic approach is proposed to automate mission planning within a limited time. Routing is handled through a greedy algorithm that selects tasks based on their distance to a baseline path and score. B-spline path smoothing is implemented for smooth and continuous routes. The results are examined in terms of robustness, explainability, transparency, reproducibility, and non-technical requirements. Scenarios with extreme parameters are generated for validation and testing. The algorithm demonstrates promising performance and fulfils the selected trustworthiness requirements, indicating that classical techniques remain significant candidates for fast, reliable, and unsupervised routing solutions.

Date: 2025
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DOI: 10.1080/00207721.2025.2455998

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