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.


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    Title :

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


    Contributors:


    Publication date :

    2015-06-01


    Size :

    290141 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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