@inproceedings{97ccd009bae548909d77ca9b8cc11e40,
title = "Heterogeneous Multi-UAV Distributed Task Allocation Based on CBBA",
abstract = "This paper models and analyzes the task assignment problem of heterogeneous multi-UAV collaborative materials delivery, and establishes a distribution decision model for heterogeneous multi-UAV with multi-task locations. Combined with the basic CBBA (Consensus Based Bundle Algorithm) and the characteristics of multi-task allocation, a {"}Closed-Loop CBBA{"} that considers returning to the take-off base after the completion of the UAV mission is proposed. The corresponding simulation calculation and analysis are carried out using the proposed algorithm. The simulation results show that the Closed-Loop CBBA can make the task assignment result more inclined to make each UAV perform the task location closer to its own take-off base. By comparing with the basic CBBA, the assignment result obtained by the {"}Closed-Loop CBBA{"} is reasonable and in line with expectations.",
keywords = "CBBA, Heterogeneous, Multi-UAV, Task assignment",
author = "Xiaobo Zheng and Fubiao Zhang and Tao Song and Defu Lin",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 ; Conference date: 17-10-2019 Through 19-10-2019",
year = "2019",
month = oct,
doi = "10.1109/ICUS48101.2019.8995977",
language = "English",
series = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "704--709",
booktitle = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",
address = "United States",
}