Action-Seeking Team Coordination for Unmanned Vehicles Team Planning

Current researches about multi-vehicle cooperation task assignment models, such as capacitated transshipment assignment problem (CTAP) and mixed integer linear programming (MILP), have extreme amounts of computation needed for the dynamic coordination planning of Unmanned Vehicles (UV) team. In this paper, we propose the Action-Seeking Team coordination (ASTC) model with an aim to promote the UV team´s high-level dynamic coordination. During the planning execution, each vehicle involved is coordinately assigned to the emergent object in its available time windows in real time. It´s an incremental planning approach that treats the gradually emergent object´s plan as a problem about optimum combination, which can be solved through 0-1 programming method efficiently. Finally, we confirm the above properties of the methods through the simulation experiment.