Dynamic Task Allocation for Heterogeneous Manned-unmanned Aerial Vehicle Teamwork

摘要

This paper discusses the dynamic task allocation problem for manned-unmanned aerial vehicle teamwork (MUAVT) in complex missions. We assume the team is heterogeneous that the team members (MAVs or UAVs) have different capacities for specific tasks. Based on the values of capacities, we analyze the interdependence relationships in the joint activities and assign the roles of performer or supporter to every team member. Then, we calculate the success probability of the tasks with consideration of penitential threats. The tasks can be reallocated whenever necessary in case of aircraft failures, change of task priority, or emergence of new tasks. Specifically, we have proposed an auction-based algorithm to deal with dynamic task allocation with constrains of time and resources. Our method has been evaluated in simulation where one MAV and four UAVs collaborate to handle multiple targets in a surveillance task.