Decentralized Multi-UAV Trajectory Task Allocation in Search and Rescue Applications

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review


Multi-UAV systems have significant potential to enhance search and rescue (SAR) operations, since a search area can be covered faster than current approaches when multiple UAVs operate in parallel. While recent advancements within the field of multi-robot coverage planning have yielded promising results, current algorithms are predominately centralized. In this paper, we present a generalization of the well-known decentralized consensus-based bundle algorithm (CBBA), that enables efficient task allocation in multi-UAV SAR operations. The generalized algorithm considers tasks as trajectories between two points where the traversal direction for each task is optimized in the task allocation process. We carry out a series of simulation-based experiments on benchmark problems and compare our results to a state-of-the-art centralized solution. We find that our novel decentralized approach yields times to completion similar to those achieved with a centralized coverage path planning approach, with only 1.9% overhead cost. We furthermore find that our approach performs 6% better than point allocations while scaling well with the number of UAVs involved in the search effort.
Titel2023 21st International Conference on Advanced Robotics (ICAR)
Publikationsdato5. dec. 2023
ISBN (Elektronisk)979-8-3503-4229-1
StatusUdgivet - 5. dec. 2023
Begivenhed2023 21th International Conference on Advanced Robotics - Abu Dhabi, Forenede Arabiske Emirater
Varighed: 5. dec. 20238. dec. 2023


Konference2023 21th International Conference on Advanced Robotics
Land/OmrådeForenede Arabiske Emirater
ByAbu Dhabi


Dyk ned i forskningsemnerne om 'Decentralized Multi-UAV Trajectory Task Allocation in Search and Rescue Applications'. Sammen danner de et unikt fingeraftryk.