A New Algorithm Using Hybrid UAV Swarm Control System for Firefighting Dynamical Task Allocation

摘要

In recent years, technical advancement and robotic technologies highlight the way for Unmanned Aerial Vehicles (UAVs) researchers to enlarge and increase their capabilities so that many can act as autonomous systems on their own. For this reason, UAV swarming has caught the attention of several researchers. This paper proposes a hybrid swarm control architecture focused on a centralized node to deal with an optimal allocation task problem within firefighting application scenarios. Furthermore, we will apply Jonker-Volgenant auction-based algorithm and present a variation re-enhanced: Iterative Jonker-Volgenant method for our specific new algorithm. The results show robustness in a controlled simulation and computational efficiency for task allocation problems even for many UAVs (approximately 100 UAVs) and target tasks (about 50 targets).