The problem of task assignment for multiple cooperating unmanned aerial vehicle(UAV) teams is considered. Multiple UAVs forming several small teams are needed to perform attack tasks on a set of predetermined ground t...The problem of task assignment for multiple cooperating unmanned aerial vehicle(UAV) teams is considered. Multiple UAVs forming several small teams are needed to perform attack tasks on a set of predetermined ground targets. A hierarchical task assignment method is presented to address the problem. It breaks the original problem down to three levels of sub-problems: target clustering, cluster allocation and target assignment. The first two sub-problems are centrally solved by using clustering algorithms and integer linear programming, respectively, and the third sub-problem is solved in a distributed and parallel manner, using a mixed integer linear programming model and an improved ant colony algorithm. The proposed hierarchical method can reduce the computational complexity of the task assignment problem considerably, especially when the number of tasks or the number of UAVs is large. Experimental results show that this method is feasible and more efficient than non-hierarchical methods.展开更多
It’s lunch hour on a weekday and a small restaurant in central Beijing is packed to the gil s.Harried-looking waiters run from table to table to cope with the stream of orders,and the manager’s fingers fly like ligh...It’s lunch hour on a weekday and a small restaurant in central Beijing is packed to the gil s.Harried-looking waiters run from table to table to cope with the stream of orders,and the manager’s fingers fly like lightning over the calculator as she tallies up bills.In sharp contrast to the hectic activity,the little kitchen,visible through the long narrow glass window that partitions it from the dining hal,is a calm oasis.A lean but efficient army composed of three cooks is dishing out the orders,working in perfect coordination and harmony.展开更多
基金supported by the National Natural Science Foundation of China(7147205871401048)the Fundamental Research Funds for the Central Universities(2012HGZY0009)
文摘The problem of task assignment for multiple cooperating unmanned aerial vehicle(UAV) teams is considered. Multiple UAVs forming several small teams are needed to perform attack tasks on a set of predetermined ground targets. A hierarchical task assignment method is presented to address the problem. It breaks the original problem down to three levels of sub-problems: target clustering, cluster allocation and target assignment. The first two sub-problems are centrally solved by using clustering algorithms and integer linear programming, respectively, and the third sub-problem is solved in a distributed and parallel manner, using a mixed integer linear programming model and an improved ant colony algorithm. The proposed hierarchical method can reduce the computational complexity of the task assignment problem considerably, especially when the number of tasks or the number of UAVs is large. Experimental results show that this method is feasible and more efficient than non-hierarchical methods.
文摘It’s lunch hour on a weekday and a small restaurant in central Beijing is packed to the gil s.Harried-looking waiters run from table to table to cope with the stream of orders,and the manager’s fingers fly like lightning over the calculator as she tallies up bills.In sharp contrast to the hectic activity,the little kitchen,visible through the long narrow glass window that partitions it from the dining hal,is a calm oasis.A lean but efficient army composed of three cooks is dishing out the orders,working in perfect coordination and harmony.
