Heterogeneous Multi-UAV Multi-task Reallocation Problem Using Mixed-Integer Linear Programing

In this paper, we propose a method to formulate a heterogeneous multi-UAV multi-task redistribution problem with physical and strategic constraints, which can be solved in mixed integer linear programming (MILP). UAVs are classified in different types that capture their different capabilities, and each task has different complete probabilities for different types of UAVs. Given a time-space limit, certain UAV loads and an initial value of allocation, our goal is to assign these tasks to heterogeneous UAV swarm consisting of different types of UAVs. So we unified different task types in one objective function, and established constraints to different task types. Physical and objective constraints are established either. We find centroid of tasks and measure distance of centroid to task position so as to linearize constraints of voyage. Then we solve the MILP function to find optimal allocation results. The simulation results with different pair of UAV and task number give different optimal solutions, it shows the effectiveness of MILP formulation.