Heterogeneous Networked Multi-UAV Cooperative Task Allocation Based on a Distributed Performance Impact Algorithm

In view of the task allocation problem under communication constraints, this paper proposes a distributed performance impact (DPI) algorithm for heterogeneous multi-UAV cooperation. First, the task allocation problem is modelled, incorporating task requirements, heterogeneous flight performance and non-ideal networked communication. Then, a multi-phase DPI algorithm is designed in five stages: task inclusion, cluster generation, conflict resolution, coalition formation and task segmentation. Based on task inclusion, a communication-reachable networked cluster generation method is developed. The conflict resolution mechanism is improved based on the removal-performance-impact and task contribution rate. Further considering independently unachievable tasks, a dual-fallback mechanism is constructed by a pruning-redundancy coalition formation scheme and a task- segmentation scheme, thereby enhancing both system operational efficiency and task-completion certainty. Finally, simulations are conducted to demonstrate the effectiveness, superiority and robustness of the proposed DPI algorithm.