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.
Task-priority based task allocation of multiple UAVs with resource constraint
2015-06-01
290141 byte
Conference paper
Electronic Resource
English
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