Threshold bundle-based task allocation for multiple aerial robots
| dc.contributor.author | Li, Teng | |
| dc.contributor.author | Shin, Hyosang | |
| dc.contributor.author | Tsourdos, Antonios | |
| dc.date.accessioned | 2021-06-30T09:31:01Z | |
| dc.date.available | 2021-06-30T09:31:01Z | |
| dc.date.issued | 2020-04-14 | |
| dc.description.abstract | This paper focuses on the large-scale task allocation problem for multiple Unmanned Aerial Vehicles (UAVs). One of the great challenges with task allocation is the NP-hardness for both computation and communication. This paper proposes an efficient decentralised task allocation algorithm for multiple UAVs to handle the NP-hardness while providing an optimality bound of solution quality. The proposed algorithm can reduce computational and communicating complexity by introducing a decreasing threshold and building task bundles based on the sequential greedy algorithm. The performance of the proposed algorithm is examined through Monte-Carlo simulations of a multi-target surveillance mission. Simulation results demonstrate that the proposed algorithm achieves similar solution quality compared with benchmark task allocation algorithms but consumes much less running time and consensus steps. | en_UK |
| dc.identifier.citation | Li T, Shin H-S, Tsourdos A. (2020) Threshold bundle-based task allocation for multiple aerial robots. IFAC-PapersOnLine, Volume 53, Issue 2, pp. 14787-14792 | en_UK |
| dc.identifier.issn | 2405-8963 | |
| dc.identifier.uri | https://doi.org/10.1016/j.ifacol.2020.12.1908 | |
| dc.identifier.uri | https://dspace.lib.cranfield.ac.uk/handle/1826/16826 | |
| dc.language.iso | en | en_UK |
| dc.publisher | Elsevier | en_UK |
| dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 International | * |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
| dc.subject | Multiple UAVs | en_UK |
| dc.subject | task allocation | en_UK |
| dc.subject | submodular maximisation | en_UK |
| dc.subject | threshold bundle | en_UK |
| dc.subject | multi-target surveillance | en_UK |
| dc.title | Threshold bundle-based task allocation for multiple aerial robots | en_UK |
| dc.type | Article | en_UK |