Deadlock-free and path coordination algorithm for Cooperative Multi-task Allocation Problem with Target Priority Constraints

In this paper, we propose a cooperative multi-task allocation problem with target priority constraints (CMTAPTPC) for unmanned aerial vehicles (UAVs). For solving the deadlock problem, a deadlock detection and elimination method, including target priority constraints, is introduced in the graph representation framework. Furthermore, an innovative waitable path coordination (WPC) algorithm is proposed to coordinate the flight path that violates time constraints. It adopted some strategies to reduce the complexity of coordination and save the energy of the UAVs. In the simulation part, a representative complex scenario is designed to illustrate the rationality and effectiveness of the CMTAPTPC model and WPC algorithm.