Evaluation of the iterative method of task distribution in a swarm of unmanned aerial vehicles in a clustered field of targets

Abstract

The purpose of this article is to evaluate the performance of the developed iterative method for distributing tasks in a swarm of UAVs in a clustered target field. This article presents an iterative method for distributing tasks among agents of a swarm of unmanned aerial vehicles (UAVs) in a clustered target field, when the number of tasks significantly exceeds the number of agents. The main tasks solved by UAVs are surveillance and reconnaissance, detection of dangerous objects or places of emergency, search for victims, etc. The efficiency of solving the problems listed above is achieved by the simultaneous use of a group of UAVs, the elements (agents) of which can carry out the tasks of inspecting and scanning various areas in parallel. At the same time, the number of tasks can significantly exceed the number of UAV swarm agents. To organize the work of a swarm of UAVs in this case, it is necessary to solve the problem of labor division, considering the conditions of the problem. The results showed the high efficiency of the proposed task distribution method according to the criterion of minimizing the travel distance of agents.

Keywords

• Multi-robotic systems
• Swarm of UAVs
• Task allocation
• Iterative method
• Collective decision-making