title: Algorithm to use for reaching points from landing pod
body: <p>I have a quadcopter with some sensors and I want to measure values in set of points on the map (2d problem).
  Every measurement takes 30 seconds and I assume copter has constant speed of 60km/h.
  It can fly constantly 20 minutes and then it needs to land to charge for an hour.</p>
  
  <p>I would like to write an algorithm, that automatically computes flight paths and minimizes time to take all the samples.</p>
  
  <p>I can represent the points as a full graph (I assume I am flying so high, that there are no obstacles). Then time to reach the point is cost on the edge, but I have also cost of visiting the vertex and limited "fuel". It is some generalization of TSP or VRP, but I am not sure which one.</p>
  
  <p>There are also problems with gas stations, but they usually find path between two points.</p>
  
  <p>Can you name an algorithm that could solve this or come up with something similar. It is NP hard, but there could be some nice approximate solutions.</p>