UAV Task Assignment with Timing Constraints via Mixed-Integer Linear Programming

The optimal timing of air-to-ground tasks is undertaken. Specifically, a scenario where multiple air vehicles are required to prosecute geographically dispersed targets is considered. The vehicles must perform multiple tasks on each target. The targets must be found, classified, attacked, and verified as destroyed. The optimal performance of these tasks requires cooperation amongst the vehicles such that critical timing constraints are satisfied. In this paper, an optimal task assignment and timing algorithm is developed, using a mixed integer linear program, or MILP, formulation. MILP can be used to assign all tasks to the vehicles in an optimal manner, including variable arrival times, for groups of air vehicles with coupled tasks involving timing and task order constraints. When the air vehicles have sufficient endurance, the existence of a solution is guaranteed.