Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments
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How_RealTime.pdf
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Author(s)
How, Jonathan P.
Bertuccelli, Luca F.
Choi, Han-Lim
Cho, Peter L.
Date Issued
August 2009
Journal
AIAA Guidance, Navigation, and Control Conference 10 - 13 August 2009, Chicago, Illinois
Publisher
American Institute of Aeronautics and Astronautics
Citation
Bertuccelli, Luca F. et al. " Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments." AIAA Guidance, Navigation, and Control Conference, 10 - 13 August 2009, Chicago, Illinois, AIAA-2009-5776, p.1-16. © 2009 American Institute of Aeronautics and Astronautics.
Version
Original manuscript
Abstract
This paper analyzes task assignment for heterogeneous air vehicles using a guaranteed
conflict-free assignment algorithm, the Consensus Based Bundle Algorithm
(CBBA). We extend this recently proposed algorithm to handle two realistic multi-
UAV operational complications. Our rst extension accounts for obstacle regions in
order to generate collision free paths for UAVs. Our second extension reduces task
planner sensitivity to sensor measurement noise, and thereby minimizes churning
behavior in flight paths. After integrating our enhanced CBBA module with a 3D
visualization and interaction software tool, we simulate multiple aircraft servicing
stationary and moving ground targets. Preliminary simulation results establish
that consistent, conflict-free multi-UAV path assignments can be calculated on the
order of a few seconds. The enhanced CBBA consequently demonstrates signfi cant
potential for real-time performance in stressing environments.
Description
Conference agenda: http://www.aiaa.org/agenda.cfm?lumeetingid=1998
MIT Department
Lincoln Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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DOI of Published Version
http://pdf.aiaa.org/getfile.cfm?urlX=6%3A7I%276D%26X%5B%22%3B%2BR0SLP4S%5EQ%2A%2B%224%3AP%22%5E0%20%20%0A&urla=%25%2ARH%27%21P%2C%20%0A&urlb=%21%2A%20%20%20%0A&urlc=%21%2A0%20%20%0A&urle=%27%2BB%28%2E%2202%40WP%20%20%0A
