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ICRA
2008
IEEE

An almost communication-less approach to task allocation for multiple Unmanned Aerial Vehicles

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An almost communication-less approach to task allocation for multiple Unmanned Aerial Vehicles
— 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.
Peng Cheng, Vijay Kumar
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Peng Cheng, Vijay Kumar
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