An almost communication-less approach to task allocation for multiple Unmanned Aerial Vehicles
An almost communication-less approach to task allocation for multiple Unmanned Aerial Vehicles
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一种几乎无通信的多无人机任务分配方法
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
P. Cheng;Vijay R. Kumar
在本文中，我们为一组未知数量的无人驾驶汽车（UAV）提供了可扩展的，分散的任务分配算法，该算法配备了GPS接收器，具有有限但已知的操作距离的GPS接收器，同步时钟和雷达。该算法将无人机的亚组分配给其初始位置在有限的空间中随机分散到有限的一组独立任务。提出的算法的关键特征是：（1）该算法不需要无人机之间的任何通信； （2）任务分配是在有限时间内实现的。分析和导致简化的2D模拟环境分别证明并验证了所提出的算法的正确性。
In this paper, we present a scalable, decentralized task allocation algorithm for a group of unknown number of unmanned aerial vehicles (UAVs), which are equipped with GPS receivers, synchronized clocks and radars with a finite, but known operating distance to identify neighbors. The algorithm assigns subgroups of UAVs, whose initial positions are randomly scattered in a bounded space, to a finite set of independent tasks. The key features of the proposed algorithm are: (1) the algorithm does not require any communication between the UAVs; (2) the task allocation is achieved in finite time. The analysis and results in the simplified 2D simulation environment respectively prove and verify the correctness of the proposed algorithm.