TY - JOUR
T1 - Comparison of Distributed Task Allocation Algorithms Considering Non-Ideal Communication Factors for Multi-UAV Collaborative Visit Missions
AU - Cao, Yan
AU - Long, Teng
AU - Sun, Jingliang
AU - Wang, Zhu
AU - Xu, Guangtong
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2025
Y1 - 2025
N2 - 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.
AB - 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.
KW - Distributed robot systems
KW - networked robots
KW - task planning
UR - http://www.scopus.com/inward/record.url?scp=85165298924&partnerID=8YFLogxK
U2 - 10.1109/LRA.2023.3295999
DO - 10.1109/LRA.2023.3295999
M3 - Article
AN - SCOPUS:85165298924
SN - 2377-3766
VL - 10
SP - 1928
EP - 1935
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
ER -