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Distributed task allocation with critical tasks and limited capacity

Published online by Cambridge University Press:  08 April 2021

An Zhang ,
Mi Yang Open the ORCID record for Mi Yang [Opens in a new window] ,
Wenhao Bi  and
Fei Gao
An Zhang
Affiliation:
School of Aeronautics, Northwestern Polytechnical University, Xi’an, China Key Laboratory of Data Link Technology of 20th Research Institute of CETC, Xi’an, China
Mi Yang
Affiliation:
School of Aeronautics, Northwestern Polytechnical University, Xi’an, China
Wenhao Bi*
Affiliation:
School of Aeronautics, Northwestern Polytechnical University, Xi’an, China
Fei Gao
Affiliation:
School of Aeronautics, Northwestern Polytechnical University, Xi’an, China
*
*Corresponding author. E-mail: biwenhao@nwpu.edu.cn
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Abstract

This paper considers the task allocation problem under the requirement that the assignments of some critical tasks must be maximized when the network capacity cannot accommodate all tasks due to the limited capacity for each unmanned aerial vehicle (UAV). To solve this problem, this paper proposes an extended performance impact algorithm with critical tasks (EPIAC) based on the traditional performance impact algorithm. A novel task list resizing phase is developed in EPIAC to deal with the constraint on the limited capacity of each UAV and maximize the assignments of critical tasks. Numerical simulations demonstrate the outstanding performance of EPIAC compared with other algorithms.

Keywords

Distributed task allocationExtended performance impact algorithmLimited capacityCritical tasksMulti-UAV system

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Type
Article
Information
Robotica , Volume 39 , Issue 11 , November 2021 , pp. 2008 - 2032
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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