This paper proposes a heuristic no-wait distributed algorithm for solving the multi-UAV multi-task allocation problems with coupling temporal constraints. Such an algorithm outputs conflict-free assignment for heterogeneous UAVs via communication topologies. The start time of each task is taken into account when exchanging information between UAVs, and tasks leading to temporal-conflict are marked. The whole algorithm iterates between two phases: task inclusion phase and consensus and conflict elimination phase. The first phase aims to include tasks into the task list of each UAV for optimizing the overall objective, and the later iterates between three sub-phases so as to eliminate the temporal-conflict caused by the addition or removal of tasks. These phases are run concurrently on all UAVs through local communication. Note that all UAVs are either flying to executing tasks or executing a task in the obtained result, i.e., there is no waiting-time for each UAV. A numerical simulation finally demonstrates the efficiency of proposed method for complex missions with coupling temporal constraints.
Distributed No-wait Task Allocation for Multi-UAV System with Coupling Temporal Constraints
2021-10-15
5727178 byte
Conference paper
Electronic Resource
English
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