Comparison of Distributed Task Allocation Algorithms Considering Non-Ideal Communication Factors for Multi-UAV Collaborative Visit Missions

Yan Cao, Teng Long, Jingliang Sun*, Zhu Wang, Guangtong Xu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

This letter comprehensively investigates the performance of six state-of-art distributed task allocation algorithms (i.e., CBAA, CBBA, HIPC, PI, DHBA, and DGA) subject to non-ideal communication factors. The package loss, bit error, and time delay factors are considered in the distributed task allocation process. The performance of the algorithms for multi-UAV collaborative visit missions is compared under pre-allocation and dynamic allocation scenarios. The synchronous and asynchronous communication modes are separately utilized in different allocation scenarios for analyzing the effects of non-ideal communication factors. Comparison results show that bit error factors cause conflicted allocations. For the pre-allocation scenario, CBBA outperforms the competitors in terms of reliability, communication overhead, and efficiency. For the dynamic scenario, CBBA performs best optimality, while DHBA exhibits better reliability and lower overhead in harsh communication conditions.

Original languageEnglish
Pages (from-to)1928-1935
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume10
Issue number2
DOIs
Publication statusPublished - 2025

Keywords

  • Distributed robot systems
  • networked robots
  • task planning

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Cao, Y., Long, T., Sun, J., Wang, Z., & Xu, G. (2025). Comparison of Distributed Task Allocation Algorithms Considering Non-Ideal Communication Factors for Multi-UAV Collaborative Visit Missions. IEEE Robotics and Automation Letters, 10(2), 1928-1935. https://doi.org/10.1109/LRA.2023.3295999