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.

翻译：保障石油基础设施安全需要在自主系统效率与人类对威胁升级的判断之间取得平衡，这是经典设施选址模型（假设资源同质）未解决的挑战。本文提出了人机协同调度设施选址问题（HRCD-FLP），这是一种带容量约束的设施选址变体，纳入了分级基础设施临界度、人机监督比例约束以及最低利用率要求。我们在三种技术成熟度场景下评估了指挥中心选址方案。结果表明，从保守（1:3人机监督）过渡到未来自主操作（1:10）能在保持关键基础设施全覆盖的同时显著降低成本。对于小规模问题，精确方法在成本和计算时间上均占优；对于较大规模问题，所提出的启发式算法能在3分钟内获得可行解，在可比较情况下最优性差距约为14%。从系统视角看，我们的工作表明，优化的人机协同规划是实现成本效益与任务可靠性兼备的部署关键。