Efficient decentralized task allocation for UAV swarms in multi-target surveillance missions

Simple item page
dc.contributor.authorLi, Teng
dc.contributor.authorShin, Hyo-Sang
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2019-08-30T11:41:19Z
dc.date.available2019-08-30T11:41:19Z
dc.date.issued2019-08-15
dc.description.abstractThis paper deals with the large-scale task allocation problem for Unmanned Aerial Vehicle (UAV) swarms in surveillance missions. The task allocation problem is proven to be NP-hard which means that finding the optimal solution requires exponential time. This paper presents a practically efficient decentralized task allocation algorithm for UAV swarms based on lazy sample greedy. The proposed algorithm can provide a solution with an expected optimality ratio of at least p for monotone submodular objective functions and of p(1−p) for non-monotone submodular objective functions. The individual computational complexity for each UAV is O(pr2), where p∈(0,0.5] is the sampling probability, r is the number of tasks. The performance of the proposed algorithm is testified through digital simulations of a multi-target surveillance mission. Simulation results indicate that the proposed algorithm achieves a comparable solution quality to state-of-the-art algorithms with dramatically less running time. Moreover, a trade-off between the solution quality and the running time is obtained by adjusting the sampling probabilityen_UK
dc.identifier.citationLi T, Shin H-Y & Tsourdos A (2019) Efficient decentralized task allocation for UAV swarms in multi-target surveillance missions. In: 2019 International Conference on Unmanned Aircraft Systems, (ICUAS), Atlanta, GA, USA, 11-14 June 2019en_UK
dc.identifier.isbn978-1-7281-0334-1
dc.identifier.urihttps://doi.org/10.1109/ICUAS.2019.8798293
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/14489
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectUAV swarmsen_UK
dc.subjectmulti-target surveillanceen_UK
dc.subjectsubmodular maximizationen_UK
dc.subjectlazy sample greedyen_UK
dc.subjecttask allocationen_UK
dc.titleEfficient decentralized task allocation for UAV swarms in multi-target surveillance missionsen_UK
dc.typeConference paperen_UK

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Efficient_decentralized_task_allocation_for_UAV_swarms_in_multi-target-2019.pdf
Size:
372.42 KB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.63 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Staff publications (SATM)