Cooperative multi-task assignment for heterogonous UAVs

Abstract

Due to copyright restrictions, the access to the full text of this article is only available via subscription.This research is focused on the cooperative multi-task assignment problem for heterogeneous UAVs, where a set of multiple tasks, each requiring a predetermined number of UAVs, have to be completed at specific locations. We modeled this as an optimization problem to minimize the number of uncompleted tasks while also minimizing total airtime and total distance traveled by all the UAVs. By taking into account the UAV flight capacities. For the solution of the problem, we adopted a multi-Traveling Salesman Problem (mTSP) method [1] and designed a new genetic structure for it so that it can be applied to cooperative multi-task assignment problems. Furthermore, we developed two domain specific mutation operators to improve the quality of the solutions in terms of number of uncompleted tasks, total airtime and total distance traveled by all the UAVs. The simulation experiments showed that these operators significantly improve the solution quality. Our main contributions are the application of the Multi Structure Genetic Algorithm (MSGA) to cooperative multi-task assignment problem and the development of two novel mutation operators to improve the solution of MSGA.TÜBİTA

A Method of Multi-UAV Cooperative Task Assignment Based on Reinforcement Learning

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The Collaborative Power Inspection Task Allocation Method of “Unmanned Aerial Vehicle and Operating Vehicle”

“…The path planning model of OV is defined as follows: 15) Formula ( 8) minimizes the total driving distance for the OV to complete all inspection tasks in the operation and maintenance area; formula (9) indicates that each parking spot is visited only once; formula (10) indicates that OV will eventually return to the power company after it leaves the power company; formula (11) and formula (12) indicate that each parking spot is visited only once; formula (13) indicates the total time for the OV to complete all inspection tasks in the operation and maintenance area; formula (14) and formula (15) are the decision variable constraints.…”

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