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Frontiers of Engineering Management

ISSN 2095-7513

ISSN 2096-0255(Online)

CN 10-1205/N

Postal Subscription Code 80-905

Front. Eng    2020, Vol. 7 Issue (1) : 1-26    https://doi.org/10.1007/s42524-020-0093-5
REVIEW ARTICLE
Airline planning and scheduling: Models and solution methodologies
Lei ZHOU1, Zhe LIANG1(), Chun-An CHOU2, Wanpracha Art CHAOVALITWONGSE3
1. School of Economics & Management, Tongji University, Shanghai 200092, China
2. Mechanical & Industrial Engineering Department, Northeastern University, Boston, MA 02115, USA
3. Department of Industrial Engineering and Institute for Advanced Data Analytics, University of Arkansas, Fayetteville, AR 72701, USA
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Abstract

The airline industry is a representative industry with high cost and low profitability. Therefore, airlines should carefully plan their schedules to ensure that overall profit is maximized. We review the literature on airline planning and scheduling and focus on mathematical formulations and solution methodologies. Our research framework is anchored on three major problems in the airline scheduling, namely, fleet assignment, aircraft routing, and crew scheduling. General formulation, widely used solution approaches, and important extensions are presented for each problem and integrated problems. We conclude the review by identifying promising areas for further research.

Keywords airline planning      fleet assignment problem      aircraft routing problem      crew pairing problem      crew rostering problem      crew scheduling problem      integrated planning     
Corresponding Author(s): Zhe LIANG   
Just Accepted Date: 17 January 2020   Online First Date: 24 February 2020    Issue Date: 02 March 2020
 Cite this article:   
Lei ZHOU,Zhe LIANG,Chun-An CHOU, et al. Airline planning and scheduling: Models and solution methodologies[J]. Front. Eng, 2020, 7(1): 1-26.
 URL:  
https://academic.hep.com.cn/fem/EN/10.1007/s42524-020-0093-5
https://academic.hep.com.cn/fem/EN/Y2020/V7/I1/1
Fig.1  Connection network proposed by Abara (1989).
Sets
K set of fleets, indexed by k
L set of legs, indexed by l, i, or j
L + = L∪ {0}. The index i = 0 denotes the original arc, and index j = 0 denotes the terminal arc. Given a leg connection ij, i, j Î L +, if i = 0, then j is the first leg of a daily aircraft route; if j = 0, then i is the last leg of a daily aircraft route.
S set of stations, indexed by s
L s A set of legs arriving at station s
L s D set of legs departing from station s
Constants
M k number of available aircraft of fleet k
Parameters
c k cost of each aircraft in fleet k
p jk benefit of operating leg j by fleet k
Variables
x ijk Î {0, 1}. x ijk = 1, if fleet k covers the connection ij, i, j Î L +; and x ijk = 0, otherwise.
  
Max i L + j L k K p j k x i j k j L k K c k x 0 j k (2.1)
s.t. i L + k K x i j k = 1 j L (2.2)
i L + x i l k j L + x l j k = 0 l L , k K (2.3)
l L s D x 0 l k l L s A x l 0 k = 0 s S , k K (2.4)
l L x 0 l k M k k K (2.5)
x i j k { 0 , 1 } i , j L + , k K (2.6)
  
Sets
L DM set of dummy arcs
L * = LL DM
i L * x i l k j L * x l j k = 0 l L , k K (2.7)
  
Fig.2  Connection network with dummy source/sink nodes and wrap-around arcs.
Fig.3  Example of the time–space network.
Sets (cont.)
N k set of nodes in the network for fleet k, indexed by n
L n + set of legs inbound to node n
L n set of legs outbound from node n
L P set of legs crossing the aircraft count time. The count time can be any time point of a day.
N k P set of nodes in the network for fleet k, and the ground arcs into these nodes cross the aircraft count time
Variables (cont.)
x lk Î{0, 1}. x lk = 1, if fleet k covers the leg l; x lk = 0, otherwise.
y n + number of aircraft on the ground arc into node n, where n Î N k, k Î K
y n number of aircraft on the ground arc out node n, where n Î N k, k Î K
  
Max l L k K p l k x l k (2.8)
s.t. k K x l k = 1 l L (2.9)
l L n + x l k + y n + l L n x l k y n = 0 n N k , k K (2.10)
l L P x l k + n N k P y n + M k k K (2.11)
x l k { 0 , 1 } l L , k K (2.12)
y n + , y n 0 n N k , k K (2.13)
  
Connection network Time–space network
Cost assignment cost+ connection cost assignment cost
#Nodes O(|L|) O(|L|)
#Arcs O(|L|2) O(|L|)
#Variables O(|L|2|K|) O(|L||K|)
#Constraints O(|L||K|) O(|L||K|)
Connection information Known Unknown
Tab.1  Comparison of the connection and time–space networks
Sets (cont.)
I set of itineraries, indexed by i
I l set of itineraries which include leg l
Parameters (cont.)
CAP k capacity of fleet k
DMD i demand on itinerary i
p i fare of itinerary i
c lk cost of assigning fleet k to leg l
Variables (cont.)
z i number of accepted passengers on itinerary i
  
Max i I p i z i l L k K c l k x l k (2.14)
s.t. (2.9)–(2.13)
k K C A P k x l k i I l z i 0 l L (2.15)
0 z i D M D i i I (2.16)
  
Parameters (cont.)
b ij recapture rate, i.e., fraction of passengers spilled from itinerary i and recaptured by itinerary j successfully. Note that b ij = 1 if j = i.
Variables (cont.)
z ij number of passengers spilled from itinerary i and redirected to itinerary j. Note that b ij z ij is the number of passengers transferred from itinerary i to itinerary j, and z ii represents the number of not spilled passengers of itinerary i.
  
Min l L k K c l k x l k + i I j I ( p i b i j p j ) z i j (2.17)
s.t. (2.9)–(2.13)
i I l D M D i i I l j I z i j + j I i I l b j i z j i k K C A P k x l k l L (2.18)
j I z i j D M D i i I (2.19)
z i j 0 i , j I (2.20)
  
Literature Network1 Time horizon2 Solution method3 Features4
Abara (1989) CN D
Berge and Hopperstad (1993) TSN W heuristic
Subramanian et al. (1994) TSN D cutting-edge algorithms maintenance arcs
Hane et al. (1995) TSN D interior-point algorithm; B&B
Clarke et al. (1996) TSN D LP-based B&B maintenance+ crew considerations
Rushmeier and Kontogiorgis (1997) CN D CPLEX flight connection possibilities
Barnhart et al. (1998) CN D B&P string-based; through revenues
Ioachim et al. (1999) CN W DW; CG time synchronization
Rexing et al. (2000) TSN D iterative solution technique departure time window
Barnhart et al. (2002) TSN D heuristic approach based on C&RG itinerary-based demand
Yan and Tseng (2002) TSN D Lagrangian relaxation; sub-gradient method decide O&D pairs by model
Lohatepanont and Barnhart (2004) TSN D heuristic approach based on C&RG itinerary-based demand
Rosenberger et al. (2004) CN D ILOG string-based; short cycles
Bélanger et al. (2006a) TSN D B&P departure time window
Bélanger et al. (2006b) TSN W two-phase heuristic fleet homogeneity
Smith and Johnson (2006) TSN D/W CG station purity
Jacobs et al. (2008) TSN D iterative algorithm O&D network effects
Pilla et al. (2008) TSN D statistical experiments approach demand driven dispatch
Barnhart et al. (2009) TSN D heuristic realistic revenue functions
Gao et al. (2009) TSN D CPLEX station purity; crewbase purity
Haouari et al. (2009) CN D/W two-phase network flow-based heuristic
Sherali et al. (2010) TSN BD itinerary-based demand
Pilla et al. (2012) TSN W L-shaped method stochastic demand
Liang and Chaovalitwongse (2013) TSN W CPLEX weekly rotation-tour network
Sherali et al. (2013a) CN D BD itinerary-based demand; flight retiming
Sherali et al. (2013b) TSN D BD itinerary-based demand; flight retiming
Salazar-González (2014) TSN D heuristic FAP+ ARP+ CSP
Shao et al. (2017) CN D BD FAP+ ARP+ CPP
Tab.2  Summary of the literature on FAP
Type Interval Staff hour Off work Location Example
Daily 24–60 FH gate fluid levels, general security, deck cleaning, emergency equipment
A 400–600 FH/
200–300 C
20–60 6 H gate oxygen system, emergency lights, nose gear retract actuator, parking brake
B 6–8 M/
400–900 FH
120–150 1–3 D hangar torque tests and flight control tests
C 18–24 M 6000 1–2 W hangar flight compartment escape ropes, entry door seals, flap asymmetry system
D 6–12 Y 50000 3–6 W hangar stabilizer attach bolts, floor beams, wing box structure
Tab.3  Maintenance types
Sets (cont.)
G set of ground arcs in the network, indexed by g, also indexed by ( e l , a , e l , a ), ( e l , a , e l , a + ), ( e l , d , e l , d ), and ( e l , d , e l , d + ). e l,a indexes the arrival node of leg l, and e l,d indexes the departure node of leg l. The “-” (“+”) represents the previous (succeeding) event. Thus, ( e l , a , e l , a ) indexes the ground arc into the arrival node of leg l, ( e l , a , e l , a + ) indexes the ground arc out the arrival node of leg l, ( e l , d , e l , d ) indexes the ground arc into the departure node of leg l, and ( e l , d , e l , d + ) indexes the ground arc out the departure node of leg l.
G P set of ground arcs in the network cross the count time
R set of strings, indexed by r
R l set of strings that include leg l
R l + set of strings beginning with leg l
R l set of strings ending with leg l
Parameters (cont.)
c r cost of string r
g r number of times that string r crosses the count time
M total number of available aircraft
Variables (cont.)
x r Î{0, 1}. x r = 1, if the string r is selected; x r = 0, otherwise.
y g number of aircraft on the ground arc g
  
Min r R c r x r (3.1)
s.t. r R l x r = 1 l L (3.2)
r R l + x r y ( e l , d , e l , d ) + y ( e l , d , e l , d + ) = 0 l L (3.3)
r R l x r y ( e l , a , e l , a ) + y ( e l , a , e l , a + ) = 0 l L (3.4)
r R γ r x r + g G P y g M (3.5)
y g 0 g G (3.6)
x r { 0 , 1 } r R (3.7)
  
Sets (cont.)
L j M set of legs i of all feasible connection ij, i, j Î L +, and a maintenance check could be planned between the arrival of leg i and the departure of leg j
L j NM set of legs i of all feasible connection ij, i, j Î L +, and a maintenance check could not be planned between the arrival of leg i and the departure of leg j
Constants (cont.)
t j flying hours of leg j
u UB maximum flight hours between two consecutive maintenance checks
Variables (cont.)
x ij Î{0, 1}. x ij = 1, if the connection ij is selected, i, j Î L +; x ij = 0, otherwise.
u j total accumulated flight hours since last maintenance check after leg j served
  
Min 0 (3.8)
s.t. i L + x i j = 1 j L (3.9)
i L * x i l j L * x l j = 0 l L (3.10)
l L x 0 l M (3.11)
u j x i j = t j x i j i L j M , j L (3.12)
u j x i j = ( u i + t j ) x i j i L j NM , j L (3.13)
t j u j u UB j L (3.14)
x i j { 0 , 1 } i , j L + (3.15)
  
Fig.4  The daily time–space network and the rotation tour network.
Sets (cont.)
S M set of maintenance airports, indexed by s
Indicators
a dn Î{0, 1}. a dn = 1, if node n belongs to day d; a dn = 0, otherwise.
β s d n + Î{0, 1}. β s d n + = 1, if maintenance arc at airport s inbound to node n on day d; β s d n + = 0, otherwise.
β s d n Î{0, 1}. β s d n = 1, if maintenance arc at airport s outbound from node n on day d; β s d n = 0, otherwise.
Constants (cont.)
D maximum number of days between two consecutive maintenances for an aircraft
Q s M maximum number of aircraft that can undergo maintenance at airport s per night
Variables (cont.)
x ld Î{0, 1}. x ld = 1, if leg l is flown on day d; x ld = 0, otherwise.
z sd number of aircraft at maintenance airport s at the end of day d
  
Min 0 (3.8)
s.t. d D x l d = 1 l L (3.16)
l L n + d D α d n x l d + y n + + s S M d D β s d n + z s d l L n d D α d n x l d y n s S M d D β s d n z s d = 0 n N (3.17)
s S M d D d ? z s d M (3.18)
d D z s d Q s M s S (3.19)
x l d { 0 , 1 } l L , d D (3.20)
y n + , y n 0 n N (3.21)
z s d 0 s S , d D (3.22)
  
SN CN TSN
Decision variable Route Connection Leg
#Variables many O(|L|2) O(|L|)
#Constraints O(|L|) O(|L|2) O(|L|)
How to get route generate from solution generate from solution solve an Eulerian tour
Maintenance requirements CD/FH/C/EH CD/FH/C/EH CD (Liang et al., 2011)
FH/C (Khaled et al., 2018)
Maintenance formulations implied in the variables adding variables and quadratic constraints CD: modifying the network
FH/C: adding variables and big-M constrains
Solution method column generation algorithm RLT and heuristics solver
Tab.4  Differences among the string-based network (SN), connection network (CN), and time–space network (TSN)
Literature Network Data size Runtime (s)
Clarke et al. (1997) CN 2246 Arc 32
Gopalan and Talluri (1998) SN 12 Aft / 33 Leg
Barnhart et al. (1998) SN 190 Leg 35768
Talluri (1998) SN
Sarac et al. (2006) SN 175 Leg 461
Lan et al. (2006) SN 278 Leg 13
Burke et al. (2010) TSN 504 Arc 98
Liang et al. (2011) TSN 70 Aft / 352 Leg 15
Dunbar et al. (2012) SN 54 Leg 10
Liang and Chaovalitwongse (2013) SN 4 Flt / 2086 Leg 3867
Haouari et al. (2013) CN 138 Aft / 344 Leg 10
Başdere and Bilge (2014) CN 354 Leg 100
Dunbar et al. (2014) SN 54 Leg
Froyland et al. (2014) SN 53 Leg 3094
Liang et al. (2015) SN 6072 Leg 10059
Safaei and Jardine (2018) CN 772 Leg
Yan and Kung (2018) SN 23 Aft / 117 Leg
Maher et al. (2018) SN 526 Aft / 3370 Leg 77
Khaled et al. (2018) TSN 1494 2902
Tab.5  Data size and computation running time of models in research
Abbreviation Full name Definition
STD scheduled time of departure
ETA estimated time of arrival
ATD actual time of departure
ATA actual time of arrival
IDD independent delay of departure I D D j = max ( A T D j S T D j P D j , 0 )
IDA independent delay of arrival I D A j = max ( A T A j E T A j P D j , 0 )
PD propagated delay P D j = max ( A T A i + min T m S T D j , 0 )
Tab.6  Relevant concepts of delay
Leg ID STD ETA ATD ATA IDD IDA PD
1 08:00 10:00 08:00 10:30 00:00 00:30 00:00
2 11:00 13:00 12:00 14:10 00:40 00:70 00:20
Tab.7  Example of relevant concepts of delay (minTm = 50 min)
Fig.5  Example of relevant concepts of delay.
Literature Network Solution method
B&B BD B&P CG C&RG LR Heuristic Others
Clarke et al. (1997) CN l
Barnhart et al. (1998) SN l
Gopalan and Talluri (1998) SN l
Talluri (1998) SN l
Lan et al. (2006) SN l l
Sarac et al. (2006) SN l
Burke et al. (2010) TSN l
Liang et al. (2011) TSN l
Dunbar et al. (2012) SN l
Haouari et al. (2013) CN l
Liang and Chaovalitwongse (2013) SN l
Başdere and Bilge (2014) CN l l
Dunbar et al. (2014) SN l l
Froyland et al. (2014) SN l l
Liang et al. (2015) SN l l
Khaled et al. (2018) TSN l
Maher et al. (2018) SN l l
Safaei and Jardine (2018) CN l
Yan and Kung (2018) SN l
Tab.8  Summary of solution approaches in the literature for the fleet assignment problem (FAP)
Fig.6  Relationship of duty, pairing, and roster.
Indicator Horizon Limitation1 Source2
Flight duty period 1 Duty 9–14 H CFR.14.117.13, CCAR.121.485
Flight time 1 Duty 8–9 H CCAR.121.483, CFR.14.117.11
Flight time 1 Month 100–120 H CCAR.121.487, CFR.14.121.483, ORO.FTL.210
Flight time 1 Year 900–1000 H CCAR.121.487, CFR.14.121.483, ORO.FTL.210
Rest period consecutive 168 H 30 H CFR.14.117.25
Rest period between 2 Duties 10 H CFR.14.117.25
Tab.9  Typical crew regulations
Sets (cont.)
P set of feasible pairings, indexed by p
P l set of pairings including leg l
Parameters (cont.)
c p cost of pairing p
Variables (cont.)
x p Î{0, 1}. x p = 1, if pairing p is selected; x p = 0, otherwise.
  
Min p P c p x p (4.1)
s.t. p P l x p 1 l L (4.2)
x p { 0 , 1 } p P (4.3)
  
Sets (cont.)
L p set of legs included in pairing p
P s set of pairings begging and ending at crewbase s
Constants (cont.)
u s LB lower bound of crew hours assigned to base s
u s UB upper bound of crew hours assigned to base s
u s LB p P s j L p t j x p u s UB s S (4.4)
  
Sets (cont.)
E set of crew, indexed by e
Q set of feasible rosters, indexed by q
Q p set of rosters containing pairing p
Parameters (cont.)
c qe cost of assigning roster q to crew member e
M p minimum number of crew members required by pairing p
Variables (cont.)
x qe Î{0, 1}. x qe = 1, if roster q is assigned to crew member e; x qe = 0, otherwise.
  
Min q Q e E c q e x q e (4.5)
s.t. q Q p x q M p p P (4.6)
q Q x q e = 1 e E (4.7)
x q e { 0 , 1 } q Q , e E (4.8)
  
Literature Objective function
Gamache et al. (1999) min total duration of uncovered pairings
Dawid et al. (2001) max utility value
Cappanera and Gallo (2004) max number/total duration of covered activities
Guo et al. (2006) min (overnight cost+ transfer cost)
Souai and Teghem (2009) min weighting cost (crew cost, flying time deviation)
Maenhout and Vanhoucke (2010) min total penalty cost (cost, fairness, preference)
Saddoune et al. (2012) min weighting cost (crew cost, penalty cost for additional pilots)
Doi et al. (2018) min working time deviation
Zeighami and Soumis (2019) min weighting cost (#uncovered vacation requirements, total cost)
Tab.10  CRM with different objective functions
Sets (cont.)
E C set of crew with the rank of captain
E F set of crew with the rank of first officer
Constants (cont.)
M p C number of crew with the rank of captain required by pairing p
M p F number of crew with the rank of first officer required by pairing p
e E c q Q p x q e M p C p P (4.9)
e E c q Q p x q e + e E F q Q p x q e M p C + M p F p P (4.10)
  
Fig.7  An example of the move-up crew.
Sets (cont.)
T PD set of possible days of a pairing, that is, {1, 2,…, the maximum number of days in a pairing}, indexed by t
S CB set of crewbases, indexed by s
P lst set of pairings covering l Î L, starting from s Î S CB, and there are t Î T PD days to the end of the pairing
P l s t set of pairings providing a move-up crew for leg l which is covered by p Î P lst
Parameters (cont.)
w weight in the objective function that encourages more move-up crews
Variables (cont.)
z lst number of move-up crews of leg l if l is covered by a p Î P lst
Min p P c p x p w l L s S CB t T PD z l s t (4.11)
z l s t p P l s t x p l L , s S CB , t T PD (4.12)
  
Fig.8  General solution method for the crew scheduling model.
Sets (cont.)
C set of short connections, indexed by (i, j)
R ij set of strings including flight connection (i, j)
P ij set of pairings including flight connection (i, j)
Variables (cont.)
x r = 1, if route r is selected; = 0, otherwise.
r R i j x r p P i j x p 0 ( i , j ) C (5.1)
  
Sets (cont.)
P set of solutions to ARP, indexed by q
P ij set of solutions including flight connection (i, j)
Variables (cont.)
x q = 1, if solution q is selected; = 0, otherwise.
θ Π i j x θ p P i j x p 0 ( i , j ) C (5.2)
  
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