In this paper, we propose a method to formulate a heterogeneous multi-UAV multi-task redistribution problem with physical and strategic constraints, which can be solved in mixed integer linear programming (MILP). UAVs are classified in different types that capture their different capabilities, and each task has different complete probabilities for different types of UAVs. Given a time-space limit, certain UAV loads and an initial value of allocation, our goal is to assign these tasks to heterogeneous UAV swarm consisting of different types of UAVs. So we unified different task types in one objective function, and established constraints to different task types. Physical and objective constraints are established either. We find centroid of tasks and measure distance of centroid to task position so as to linearize constraints of voyage. Then we solve the MILP function to find optimal allocation results. The simulation results with different pair of UAV and task number give different optimal solutions, it shows the effectiveness of MILP formulation.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Heterogeneous Multi-UAV Multi-task Reallocation Problem Using Mixed-Integer Linear Programing


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Wu, Meiping (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Cheng, Jin (Herausgeber:in) / Wang, Zekun (Autor:in) / Zhao, Jianxin (Autor:in) / Deng, Hongbin (Autor:in) / Xing, Cheng (Autor:in) / Gao, Tengfei (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Erscheinungsdatum :

    18.03.2022


    Format / Umfang :

    7 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Heterogeneous Multi-UAV Multi-task Reallocation Problem Using Mixed-Integer Linear Programing

    Wang, Zekun / Zhao, Jianxin / Deng, Hongbin et al. | British Library Conference Proceedings | 2022



    A mixed-integer linear programming formulation for human multi-robot task allocation

    martina lippi / alessandro marino | BASE | 2021

    Freier Zugriff

    Electric vehicle parking lots as a capacity expansion option in distribution systems: a mixed-integer linear programing-based model

    Moradijoz, Mahnaz / Heidari, Jaafar / Moghaddam, Mohsen Parsa et al. | IET | 2019

    Freier Zugriff

    Multi-reflection calculation of RCS and programing

    Han, X. / Lue, S. / Sun, X. | British Library Online Contents | 1999