Decentralized task allocation for multiple UAVs with task execution uncertainties

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dc.contributor.authorLiu, Ruifan
dc.contributor.authorSeo, Min-Guk
dc.contributor.authorYan, Binbin
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2021-06-25T09:47:44Z
dc.date.available2021-06-25T09:47:44Z
dc.date.issued2020-10-06
dc.description.abstractThis work builds on a robust decentralized task allocation algorithm to address the multiple unmanned aerial vehicle (UAV) surveillance problem under task duration uncertainties. Considering the existing robust task allocation algorithm is computationally intensive and also has no optimality guarantees, this paper proposes a new robust task assignment formulation that reduces the calculation of robust scores and provides a certain theoretical guarantee of optimality. In the proposed method, the Markov model is introduced to describe the impact of uncertain parameters on task rewards and the expected score function is reformulated as the utility function of the states in the Markov model. Through providing the high-precision expected marginal gain of tasks, the task assignment gains a better accumulative score than the state of arts robust algorithms do. Besides, this algorithm is proven to be convergent and could reach a prior optimality guarantee of at least 50%. Numerical Simulations demonstrate the performance improvement of the proposed method compared with basic CBBA, robust extension to CBBA and cost-benefit greedy algorithm.en_UK
dc.identifier.citationLiu R, Seo M, Yan B, Tsourdos A. (2020) Decentralized task allocation for multiple UAVs with task execution uncertainties. In: 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 1-4 September 2020, Athens, Greeceen_UK
dc.identifier.isbn978-1-7281-4279-1
dc.identifier.issn2575-7296
dc.identifier.urihttps://doi.org/10.1109/ICUAS48674.2020.9213989
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16811
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectTask analysisen_UK
dc.subjectResource managementen_UK
dc.subjectRobustnessen_UK
dc.subjectUncertaintyen_UK
dc.subjectMarkov processesen_UK
dc.subjectMathematical modelen_UK
dc.subjectApproximation algorithmsen_UK
dc.titleDecentralized task allocation for multiple UAVs with task execution uncertaintiesen_UK
dc.typeConference paperen_UK

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