Optimized Human-Robot Co-Dispatch Planning for Petro-Site Surveillance under Varying Criticalities
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866908964630822912 |
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| author | Khatim, Nur Ahmad Arief, Mansur |
| author_facet | Khatim, Nur Ahmad Arief, Mansur |
| contents | Securing petroleum infrastructure requires balancing autonomous system efficiency with human judgment for threat escalation, a challenge unaddressed by classical facility location models assuming homogeneous resources. This paper formulates the Human-Robot Co-Dispatch Facility Location Problem (HRCD-FLP), a capacitated facility location variant incorporating tiered infrastructure criticality, human-robot supervision ratio constraints, and minimum utilization requirements. We evaluate command center selection across three technology maturity scenarios. Results show transitioning from conservative (1:3 human-robot supervision) to future autonomous operations (1:10) yields significant cost reduction while maintaining complete critical infrastructure coverage. For small problems, exact methods dominate in both cost and computation time; for larger problems, the proposed heuristic achieves feasible solutions in under 3 minutes with approximately 14% optimality gap where comparison is possible. From systems perspective, our work demonstrate that optimized planning for human-robot teaming is key to achieve both cost-effective and mission-reliable deployments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_07924 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Optimized Human-Robot Co-Dispatch Planning for Petro-Site Surveillance under Varying Criticalities Khatim, Nur Ahmad Arief, Mansur Robotics Artificial Intelligence Optimization and Control Securing petroleum infrastructure requires balancing autonomous system efficiency with human judgment for threat escalation, a challenge unaddressed by classical facility location models assuming homogeneous resources. This paper formulates the Human-Robot Co-Dispatch Facility Location Problem (HRCD-FLP), a capacitated facility location variant incorporating tiered infrastructure criticality, human-robot supervision ratio constraints, and minimum utilization requirements. We evaluate command center selection across three technology maturity scenarios. Results show transitioning from conservative (1:3 human-robot supervision) to future autonomous operations (1:10) yields significant cost reduction while maintaining complete critical infrastructure coverage. For small problems, exact methods dominate in both cost and computation time; for larger problems, the proposed heuristic achieves feasible solutions in under 3 minutes with approximately 14% optimality gap where comparison is possible. From systems perspective, our work demonstrate that optimized planning for human-robot teaming is key to achieve both cost-effective and mission-reliable deployments. |
| title | Optimized Human-Robot Co-Dispatch Planning for Petro-Site Surveillance under Varying Criticalities |
| topic | Robotics Artificial Intelligence Optimization and Control |
| url | https://arxiv.org/abs/2602.07924 |