Decentralized dynamic task allocation for UAVs with limited communication range
[EN]We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general approach to cast this dynamic problem as a sequence of decentr...
| Autores: | , , , , |
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| Tipo de documento: | artigo |
| Estado: | Versión enviada para evaluación y publicación |
| Data de publicação: | 2018 |
| País: | España |
| Recursos: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositório: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/240289 |
| Acesso em linha: | http://hdl.handle.net/10261/240289 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Task allocation unmanned serial vehicles max-sum Decentralised |
| Resumo: | [EN]We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general approach to cast this dynamic problem as a sequence of decentralized task allocation problems. Then we present two solutions both based on modeling the allocation task as a Markov Random Field to subsequently assess decisions by means of the decentralized Max-Sum algorithm. Our first solution assumes independence between requests, whereas our second solution also considers the UAVs’ workloads. A thorough empirical evaluation shows that our workloadbased solution consistently outperforms current state-of-the-art methods in a wide range of scenarios, lowering the average service time up to 16%. In the bestcase scenario there is no gap between our decentralized solution and centralized techniques. In the worst-case scenario we manage to reduce by 25% the gap between current decentralized and centralized techniques. Thus, our solution becomes the method of choice for our problem. |
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