Adaptive task allocation for multi-UAV systems based on bacteria foraging behaviour

Abstract

© 2019 Elsevier B.V. The foraging behaviour of bacteria in colonies exhibits motility patterns that are simple and reasoned by stimuli. Notwithstanding its simplicity, bacteria behaviour demonstrates a level of intelligence that can feasibly inspire the creation of solutions to address numerous optimisation problems. One such challenge is the optimal allocation of tasks across multiple unmanned aerial vehicles (multi-UAVs) to perform cooperative tasks for future autonomous systems. In light of this, this paper proposes a bacteria-inspired heuristic for the efficient distribution of tasks amongst deployed UAVs. The usage of multi-UAVs is a promising concept to combat the spread of the red palm weevil (RPW) in palm plantations. For that purpose, the proposed bacteria-inspired heuristic was utilised to resolve the multi-UAV task allocation problem when combating RPW infestation. The performance of the proposed algorithm was benchmarked in simulated detect-and-treat missions against three long-standing multi-UAV task allocation strategies, namely opportunistic task allocation, auction-based scheme, and the max-sum algorithm, and a recently introduced locust-inspired algorithm for the allocation of multi-UAVs. The experimental results demonstrated the superior performance of the proposed algorithm, as it substantially improved the net throughput and maintained a steady runtime performance under different scales of fleet sizes and number of infestations, thereby expressing the high flexibility, scalability, and sustainability of the proposed bacteria-inspired approach.