Innovative collaborative task allocation for uavs

Sertac Karaman*, Emre Koyuncu, Gokhan Inalhan

*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name???Bölümbilirkişi

1 Atıf (Scopus)


Decades of advances in electronics and communication technologies have enabled large-scale, flexible, reconfigurable multiple-UAV systems with a variety of applications ranging from large-scale military surveillance and reconnaissance to environmental monitoring and disaster response. Most of these applications require multiple tasks and service requests to be handled by a large group of UAVs in an efficient manner. Motivated by these problems, this chapter is devoted to a large-scale distributed task/target assignment problem for a fleet of autonomous UAVs. Central to this chapter is an algorithm that uses the delayed column generation approach on a non-convex supply-demand formulation for the problem. The algorithm exploits a computationally tractable distributed coordination structure, i.e., a market for tasks and targets created by the UAV fleet. The resulting structure is solved via a fleet-optimal dual simplex ascent in which each UAV updates its respective flight plan costs with a linear update of waypoint task values as evaluated by the market. Synchronized and asynchronous distributed implementations of this approximation algorithm is demonstrated in a thorough experimental study involving dynamically changing scenarios with random pop-up targets. Results from the tests performed on an in-house built network mission simulator are also provided for the numerical verification of the algorithm on (a) bounded polynomial-time computational complexity and (b) hard real-time performance for problem sizes on the order of 100 waypoints per UAV.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıHandbook of Unmanned Aerial Vehicles
YayınlayanSpringer Netherlands
Sayfa sayısı17
ISBN (Elektronik)9789048197071
ISBN (Basılı)2014944662, 9789048197064
Yayın durumuYayınlandı - 1 Oca 2015

Bibliyografik not

Publisher Copyright:
© Springer Science+Business Media Dordrecht 2015.

Parmak izi

Innovative collaborative task allocation for uavs' araştırma başlıklarına git. Birlikte benzersiz bir parmak izi oluştururlar.

Alıntı Yap