*1.2. Contributions*

Following the motivations introduced in the preceding subsection, we summarize the contributions of this paper and are as follows.

First, we propose a high-precision scheduling model with microscopic factors of each device considered. The model incorporates the use of a Voronoi diagram for spatial path estimation and velocity assignment. The diagram is used to enhance the scheduling accuracy so that local factors are well considered.

Second, this paper proposes a novel structure to present each of the solutions, thus enhancing the interpretability of the scheduling process and facilitating the solution generation process.

Third, a novel metaheuristic optimizer is proposed to search for a high-quality scheduling solution based on the aforementioned model and solution structure. The proposed optimizer is a special variant of the artificial bee colony (ABC) algorithm, which enhanced the ability to quickly exploit feasible solution candidates.

#### *1.3. Organization*

In the remainder of this paper, Section 2 formulates the concerned scheduling problem as a combinatorial optimization problem. Section 3 introduces the proposed optimizer to solve the formulated optimization problem together with a novel solution presentation structure. Simulation results are reported and discussed in Section 4, followed by Section 5, where conclusions are finally drawn.
