• DocumentCode
    722883
  • Title

    Task-priority based task allocation of multiple UAVs with resource constraint

  • Author

    Biwei Tang ; Zhanxia Zhu ; Hyo-Sang Shin ; Tsourdos, Antonios

  • Author_Institution
    Sci. & Technol. on Astronaut. Flight Dynamics Lab., Northwestern Polytech. Univ., China
  • fYear
    2015
  • fDate
    16-19 June 2015
  • Firstpage
    8
  • Lastpage
    13
  • Abstract
    We propose a task allocation approach that combines the task´s priority with a two-stage coalition formation algorithm in the context of multiple UAVs attacking multiple tasks. During the stage of forming a coalition for a task, the resource constraint of the coalition and resource depletion of a UAV are taken into consideration. When multiple UAVs are assigned to attack a complex task, it is reasonable to require those UAVs to simultaneously arrive at the task. In this paper, we develop a simultaneous arrival mechanism based on Dubins curves. Finally, we have conducted some simulation experiments to investigate the flexibility and applicability of the proposed approach.
  • Keywords
    autonomous aerial vehicles; position control; Dubins curves; multiple UAV; resource constraint; simultaneous arrival mechanism; task priority; task-priority based task allocation; two-stage coalition formation algorithm; Complexity theory; Linear programming; Manufacturing; Mathematical model; Monte Carlo methods; Radio frequency; Resource management; Coaltion formation; Dubins curve; simultaneous arrival; task allocation; task priority;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control and Automation (MED), 2015 23th Mediterranean Conference on
  • Conference_Location
    Torremolinos
  • Type

    conf

  • DOI
    10.1109/MED.2015.7158722
  • Filename
    7158722