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

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Abstract

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.
OriginalsprogEngelsk
Titel2023 21st International Conference on Advanced Robotics (ICAR)
ForlagIEEE
Publikationsdato5. dec. 2023
Sider35-41
ISBN (Elektronisk)979-8-3503-4229-1
DOI
StatusUdgivet - 5. dec. 2023
Begivenhed2023 21th International Conference on Advanced Robotics - Abu Dhabi, Forenede Arabiske Emirater
Varighed: 5. dec. 20238. dec. 2023

Konference

Konference2023 21th International Conference on Advanced Robotics
Land/OmrådeForenede Arabiske Emirater
ByAbu Dhabi
Periode05/12/202308/12/2023

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