Distributed task allocation architecture utilizes the interaction and processing of multiple unmanned aerial vehicles (UAVs)’s local information to achieve efficient and consistent allocation results, which prevents the danger of single point failure and enhances scalability. However, UAV sensor noise and constrained communication between UAVs may lead to inconsistent cognition of target and UAV positions, which poses challenges on the design of robust distributed task allocation algorithms. This paper presents the distributed task allocation model of multiple UAVs considering cognition error, characterized by the variance of target locations and UAV locations affected by sensor noise and data transmission success probability. A robust distributed multi-UAV task allocation algorithm is proposed, which introduces the cost error limit matrix related to cognition error to optimize the target allocation update process and improve the accuracy of the allocation results. Simulation results demonstrate that the proposed algorithm can achieve consistent task allocation results for multiple UAVs in scenarios with cognition error and constrained communication.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Distributed Task Allocation Algorithm for Scenarios with Sensor Noise and Communication Constraints


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Li, Xiaoduo (Herausgeber:in) / Song, Xun (Herausgeber:in) / Zhou, Yingjiang (Herausgeber:in) / Liang, Yanan (Autor:in) / Li, Xu (Autor:in) / Yang, Mingqiang (Autor:in) / Li, Xinhang (Autor:in)

    Kongress:

    Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023



    Erscheinungsdatum :

    15.06.2024


    Format / Umfang :

    15 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A modified distributed bees algorithm for multi-sensor task allocation

    Tkach, Itshak / Jevtic, Aleksandar / Nof, Shimon Y. et al. | BASE | 2018

    Freier Zugriff

    Distributed Task Allocation for a Multi-UAV System with Time Window Constraints

    Wei Cui / Ruilin Li / Yanxiang Feng et al. | DOAJ | 2022

    Freier Zugriff

    Distributed resource allocation under communication constraints [4385-30]

    Dodin, P. / Nimier, V. | British Library Conference Proceedings | 2001



    Multi-Agent Task Allocation with Interagent Distance Constraints

    Choi, Euihyeon / Chang, Woohyuk | AIAA | 2024