Real-time task reallocation for large-scale UAV team in dynamic environment

Fei Yan; Zhuang Shao; Zhou Zhou; Xiaoping Zhu

doi:10.1109/CGNCC.2016.7828822

Real-time task reallocation for large-scale UAV team in dynamic environment

Fei Yan, Zhuang Shao, Zhou Zhou, Xiaoping Zhu

School of Aeronautics

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.

Original language	English
Title of host publication	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	419-426
Number of pages	8
ISBN (Electronic)	9781467383189
DOIs	https://doi.org/10.1109/CGNCC.2016.7828822
State	Published - 20 Jan 2017
Event	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 - Nanjing, Jiangsu, China Duration: 12 Aug 2016 → 14 Aug 2016

Publication series

Name	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

Conference

Conference	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Country/Territory	China
City	Nanjing, Jiangsu
Period	12/08/16 → 14/08/16

Keywords

Auction algorithm
Cooperative task allocation
Large-scale UAV team
Man in-loop

Access to Document

10.1109/CGNCC.2016.7828822

Cite this

Yan, F., Shao, Z., Zhou, Z., & Zhu, X. (2017). Real-time task reallocation for large-scale UAV team in dynamic environment. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference (pp. 419-426). Article 7828822 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2016.7828822

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title = "Real-time task reallocation for large-scale UAV team in dynamic environment",

abstract = "To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.",

keywords = "Auction algorithm, Cooperative task allocation, Large-scale UAV team, Man in-loop",

author = "Fei Yan and Zhuang Shao and Zhou Zhou and Xiaoping Zhu",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 ; Conference date: 12-08-2016 Through 14-08-2016",

year = "2017",

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doi = "10.1109/CGNCC.2016.7828822",

language = "英语",

series = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

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Yan, F, Shao, Z, Zhou, Z & Zhu, X 2017, Real-time task reallocation for large-scale UAV team in dynamic environment. in CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference., 7828822, CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 419-426, 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016, Nanjing, Jiangsu, China, 12/08/16. https://doi.org/10.1109/CGNCC.2016.7828822

Real-time task reallocation for large-scale UAV team in dynamic environment. / Yan, Fei; Shao, Zhuang; Zhou, Zhou et al.
CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. p. 419-426 7828822 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Real-time task reallocation for large-scale UAV team in dynamic environment

AU - Yan, Fei

AU - Shao, Zhuang

AU - Zhou, Zhou

AU - Zhu, Xiaoping

PY - 2017/1/20

Y1 - 2017/1/20

N2 - To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.

AB - To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.

KW - Auction algorithm

KW - Cooperative task allocation

KW - Large-scale UAV team

KW - Man in-loop

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M3 - 会议稿件

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T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

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BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

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Yan F, Shao Z, Zhou Z, Zhu X. Real-time task reallocation for large-scale UAV team in dynamic environment. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc. 2017. p. 419-426. 7828822. (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). doi: 10.1109/CGNCC.2016.7828822

Real-time task reallocation for large-scale UAV team in dynamic environment

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