Comparison of Distributed Task Allocation Algorithms Considering Non-Ideal Communication Factors for Multi-UAV Collaborative Visit Missions

TY - JOUR

T1 - Comparison of Distributed Task Allocation Algorithms Considering Non-Ideal Communication Factors for Multi-UAV Collaborative Visit Missions

AU - Cao, Yan

AU - Long, Teng

AU - Sun, Jingliang

AU - Wang, Zhu

AU - Xu, Guangtong

N1 - Publisher Copyright: © 2016 IEEE.

PY - 2025

Y1 - 2025

N2 - This letter comprehensively investigates the performance of six state-of-art distributed task allocation algorithms (i.e., CBAA, CBBA, HIPC, PI, DHBA, and DGA) subject to non-ideal communication factors. The package loss, bit error, and time delay factors are considered in the distributed task allocation process. The performance of the algorithms for multi-UAV collaborative visit missions is compared under pre-allocation and dynamic allocation scenarios. The synchronous and asynchronous communication modes are separately utilized in different allocation scenarios for analyzing the effects of non-ideal communication factors. Comparison results show that bit error factors cause conflicted allocations. For the pre-allocation scenario, CBBA outperforms the competitors in terms of reliability, communication overhead, and efficiency. For the dynamic scenario, CBBA performs best optimality, while DHBA exhibits better reliability and lower overhead in harsh communication conditions.

AB - This letter comprehensively investigates the performance of six state-of-art distributed task allocation algorithms (i.e., CBAA, CBBA, HIPC, PI, DHBA, and DGA) subject to non-ideal communication factors. The package loss, bit error, and time delay factors are considered in the distributed task allocation process. The performance of the algorithms for multi-UAV collaborative visit missions is compared under pre-allocation and dynamic allocation scenarios. The synchronous and asynchronous communication modes are separately utilized in different allocation scenarios for analyzing the effects of non-ideal communication factors. Comparison results show that bit error factors cause conflicted allocations. For the pre-allocation scenario, CBBA outperforms the competitors in terms of reliability, communication overhead, and efficiency. For the dynamic scenario, CBBA performs best optimality, while DHBA exhibits better reliability and lower overhead in harsh communication conditions.

KW - Distributed robot systems

KW - networked robots

KW - task planning

UR - https://www.scopus.com/pages/publications/85165298924

U2 - 10.1109/LRA.2023.3295999

DO - 10.1109/LRA.2023.3295999

M3 - Article

AN - SCOPUS:85165298924

SN - 2377-3766

VL - 10

SP - 1928

EP - 1935

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 2

ER -