The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper coo...The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper cooperative task allocation is superior to over the single UAV.Accordingly,several constraints should be satisfied to realize the efficient cooperation,such as special time-window,variant equipment,specified execution sequence.Hence,a proper task allocation in UAVs is the crucial point for the final success.The task allocation problem of the heterogeneous UAVs can be formulated as a multi-objective optimization problem coupled with the UAV dynamics.To this end,a multi-layer encoding strategy and a constraint scheduling method are designed to handle the critical logical and physical constraints.In addition,four optimization objectives:completion time,target reward,UAV damage,and total range,are introduced to evaluate various allocation plans.Subsequently,to efficiently solve the multi-objective optimization problem,an improved multi-objective quantum-behaved particle swarm optimization(IMOQPSO)algorithm is proposed.During this algorithm,a modified solution evaluation method is designed to guide algorithmic evolution;both the convergence and distribution of particles are considered comprehensively;and boundary solutions which may produce some special allocation plans are preserved.Moreover,adaptive parameter control and mixed update mechanism are also introduced in this algorithm.Finally,both the proposed model and algorithm are verified by simulation experiments.展开更多
The overall performance of multi-robot collaborative systems is significantly affected by the multi-robot task allocation.To improve the effectiveness,robustness,and safety of multi-robot collaborative systems,a multi...The overall performance of multi-robot collaborative systems is significantly affected by the multi-robot task allocation.To improve the effectiveness,robustness,and safety of multi-robot collaborative systems,a multimodal multi-objective evolutionary algorithm based on deep reinforcement learning is proposed in this paper.The improved multimodal multi-objective evolutionary algorithm is used to solve multi-robot task allo-cation problems.Moreover,a deep reinforcement learning strategy is used in the last generation to provide a high-quality path for each assigned robot via an end-to-end manner.Comparisons with three popular multimodal multi-objective evolutionary algorithms on three different scenarios of multi-robot task allocation problems are carried out to verify the performance of the proposed algorithm.The experimental test results show that the proposed algorithm can generate sufficient equivalent schemes to improve the availability and robustness of multi-robot collaborative systems in uncertain environments,and also produce the best scheme to improve the overall task execution efficiency of multi-robot collaborative systems.展开更多
Resource allocation for an equipment development task is a complex process owing to the inherent characteristics,such as large amounts of input resources,numerous sub-tasks,complex network structures,and high degrees ...Resource allocation for an equipment development task is a complex process owing to the inherent characteristics,such as large amounts of input resources,numerous sub-tasks,complex network structures,and high degrees of uncertainty.This paper presents an investigation into the influence of resource allocation on the duration and cost of sub-tasks.Mathematical models are constructed for the relationships of the resource allocation quantity with the duration and cost of the sub-tasks.By considering the uncertainties,such as fluctuations in the sub-task duration and cost,rework iterations,and random overlaps,the tasks are simulated for various resource allocation schemes.The shortest duration and the minimum cost of the development task are first formulated as the objective function.Based on a multi-objective particle swarm optimization(MOPSO)algorithm,a multi-objective evolutionary algorithm is constructed to optimize the resource allocation scheme for the development task.Finally,an uninhabited aerial vehicle(UAV)is considered as an example of a development task to test the algorithm,and the optimization results of this method are compared with those based on non-dominated sorting genetic algorithm-II(NSGA-II),non-dominated sorting differential evolution(NSDE)and strength pareto evolutionary algorithm-II(SPEA-II).The proposed method is verified for its scientific approach and effectiveness.The case study shows that the optimization of the resource allocation can greatly aid in shortening the duration of the development task and reducing its cost effectively.展开更多
Task allocation is a key aspect of Unmanned Aerial Vehicle(UAV)swarm collaborative operations.With an continuous increase of UAVs’scale and the complexity and uncertainty of tasks,existing methods have poor performan...Task allocation is a key aspect of Unmanned Aerial Vehicle(UAV)swarm collaborative operations.With an continuous increase of UAVs’scale and the complexity and uncertainty of tasks,existing methods have poor performance in computing efficiency,robustness,and realtime allocation,and there is a lack of theoretical analysis on the convergence and optimality of the solution.This paper presents a novel intelligent framework for distributed decision-making based on the evolutionary game theory to address task allocation for a UAV swarm system in uncertain scenarios.A task allocation model is designed with the local utility of an individual and the global utility of the system.Then,the paper analytically derives a potential function in the networked evolutionary potential game and proves that the optimal solution of the task allocation problem is a pure strategy Nash equilibrium of a finite strategy game.Additionally,a PayOff-based Time-Variant Log-linear Learning Algorithm(POTVLLA)is proposed,which includes a novel learning strategy based on payoffs for an individual and a time-dependent Boltzmann parameter.The former aims to reduce the system’s computational burden and enhance the individual’s effectiveness,while the latter can ensure that the POTVLLA converges to the optimal Nash equilibrium with a probability of one.Numerical simulation results show that the approach is optimal,robust,scalable,and fast adaptable to environmental changes,even in some realistic situations where some UAVs or tasks are likely to be lost and increased,further validating the effectiveness and superiority of the proposed framework and algorithm.展开更多
The formation of the manned aerial vehicle/unmanned aerial vehicle(MAV/UAV) task coalition is considered. To reduce the scale of the problem, the formation progress is divided into three phases. For the task clusterin...The formation of the manned aerial vehicle/unmanned aerial vehicle(MAV/UAV) task coalition is considered. To reduce the scale of the problem, the formation progress is divided into three phases. For the task clustering phase, the geographical position of tasks is taken into consideration and a cluster method is proposed. For the UAV allocation phase, the UAV requirement for both constrained and unconstrained resources is introduced, and a multi-objective optimal algorithm is proposed to solve the allocation problem. For the MAV allocation phase, the optimal model is firstly constructed and it is decomposed according to the ideal of greed to reduce the time complexity of the algorithm. Based on the above phases, the MAV/UAV task coalition formation method is proposed and the effectiveness and practicability are demonstrated by simulation examples.展开更多
A decentralized task planning algorithm is proposed for heterogeneous unmanned aerial vehicle(UAV)swarm with different capabilities.The algorithm extends the consensus-based bundle algorithm(CBBA)to account for a more...A decentralized task planning algorithm is proposed for heterogeneous unmanned aerial vehicle(UAV)swarm with different capabilities.The algorithm extends the consensus-based bundle algorithm(CBBA)to account for a more realistic and complex environment.The extension of the algorithm includes handling multi-agent task that requires multiple UAVs collaboratively completed in coordination,and consideration of avoiding obstacles in task scenarios.We propose a new consensus algorithm to solve the multi-agent task allocation problem and use the Dubins algorithm to design feasible paths for UAVs to avoid obstacles and consider motion constraints.Experimental results show that the CBBA extension algorithm can converge to a conflict-free and feasible solution for multi-agent task planning problems.展开更多
基金Project(61801495)supported by the National Natural Science Foundation of China
文摘The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper cooperative task allocation is superior to over the single UAV.Accordingly,several constraints should be satisfied to realize the efficient cooperation,such as special time-window,variant equipment,specified execution sequence.Hence,a proper task allocation in UAVs is the crucial point for the final success.The task allocation problem of the heterogeneous UAVs can be formulated as a multi-objective optimization problem coupled with the UAV dynamics.To this end,a multi-layer encoding strategy and a constraint scheduling method are designed to handle the critical logical and physical constraints.In addition,four optimization objectives:completion time,target reward,UAV damage,and total range,are introduced to evaluate various allocation plans.Subsequently,to efficiently solve the multi-objective optimization problem,an improved multi-objective quantum-behaved particle swarm optimization(IMOQPSO)algorithm is proposed.During this algorithm,a modified solution evaluation method is designed to guide algorithmic evolution;both the convergence and distribution of particles are considered comprehensively;and boundary solutions which may produce some special allocation plans are preserved.Moreover,adaptive parameter control and mixed update mechanism are also introduced in this algorithm.Finally,both the proposed model and algorithm are verified by simulation experiments.
基金the Shanghai Pujiang Program (No.22PJD030),the National Natural Science Foundation of China (Nos.61603244 and 71904116)the National Natural Science Foundation of China-Shandong Joint Fund (No.U2006228)。
文摘The overall performance of multi-robot collaborative systems is significantly affected by the multi-robot task allocation.To improve the effectiveness,robustness,and safety of multi-robot collaborative systems,a multimodal multi-objective evolutionary algorithm based on deep reinforcement learning is proposed in this paper.The improved multimodal multi-objective evolutionary algorithm is used to solve multi-robot task allo-cation problems.Moreover,a deep reinforcement learning strategy is used in the last generation to provide a high-quality path for each assigned robot via an end-to-end manner.Comparisons with three popular multimodal multi-objective evolutionary algorithms on three different scenarios of multi-robot task allocation problems are carried out to verify the performance of the proposed algorithm.The experimental test results show that the proposed algorithm can generate sufficient equivalent schemes to improve the availability and robustness of multi-robot collaborative systems in uncertain environments,and also produce the best scheme to improve the overall task execution efficiency of multi-robot collaborative systems.
基金supported by the National Natural Science Foundation of China(71690233)
文摘Resource allocation for an equipment development task is a complex process owing to the inherent characteristics,such as large amounts of input resources,numerous sub-tasks,complex network structures,and high degrees of uncertainty.This paper presents an investigation into the influence of resource allocation on the duration and cost of sub-tasks.Mathematical models are constructed for the relationships of the resource allocation quantity with the duration and cost of the sub-tasks.By considering the uncertainties,such as fluctuations in the sub-task duration and cost,rework iterations,and random overlaps,the tasks are simulated for various resource allocation schemes.The shortest duration and the minimum cost of the development task are first formulated as the objective function.Based on a multi-objective particle swarm optimization(MOPSO)algorithm,a multi-objective evolutionary algorithm is constructed to optimize the resource allocation scheme for the development task.Finally,an uninhabited aerial vehicle(UAV)is considered as an example of a development task to test the algorithm,and the optimization results of this method are compared with those based on non-dominated sorting genetic algorithm-II(NSGA-II),non-dominated sorting differential evolution(NSDE)and strength pareto evolutionary algorithm-II(SPEA-II).The proposed method is verified for its scientific approach and effectiveness.The case study shows that the optimization of the resource allocation can greatly aid in shortening the duration of the development task and reducing its cost effectively.
基金co-supported by the National Natural Science Foundation of China(Nos.71971115 and 62173305)the Postgraduate Research and Practice Innovation Program of Jiangsu Province,China(No.KYCX22_0366).
文摘Task allocation is a key aspect of Unmanned Aerial Vehicle(UAV)swarm collaborative operations.With an continuous increase of UAVs’scale and the complexity and uncertainty of tasks,existing methods have poor performance in computing efficiency,robustness,and realtime allocation,and there is a lack of theoretical analysis on the convergence and optimality of the solution.This paper presents a novel intelligent framework for distributed decision-making based on the evolutionary game theory to address task allocation for a UAV swarm system in uncertain scenarios.A task allocation model is designed with the local utility of an individual and the global utility of the system.Then,the paper analytically derives a potential function in the networked evolutionary potential game and proves that the optimal solution of the task allocation problem is a pure strategy Nash equilibrium of a finite strategy game.Additionally,a PayOff-based Time-Variant Log-linear Learning Algorithm(POTVLLA)is proposed,which includes a novel learning strategy based on payoffs for an individual and a time-dependent Boltzmann parameter.The former aims to reduce the system’s computational burden and enhance the individual’s effectiveness,while the latter can ensure that the POTVLLA converges to the optimal Nash equilibrium with a probability of one.Numerical simulation results show that the approach is optimal,robust,scalable,and fast adaptable to environmental changes,even in some realistic situations where some UAVs or tasks are likely to be lost and increased,further validating the effectiveness and superiority of the proposed framework and algorithm.
基金supported by the National Natural Science Foundation of China(61573017 61703425)the Aeronautical Science Fund(20175796014)
文摘The formation of the manned aerial vehicle/unmanned aerial vehicle(MAV/UAV) task coalition is considered. To reduce the scale of the problem, the formation progress is divided into three phases. For the task clustering phase, the geographical position of tasks is taken into consideration and a cluster method is proposed. For the UAV allocation phase, the UAV requirement for both constrained and unconstrained resources is introduced, and a multi-objective optimal algorithm is proposed to solve the allocation problem. For the MAV allocation phase, the optimal model is firstly constructed and it is decomposed according to the ideal of greed to reduce the time complexity of the algorithm. Based on the above phases, the MAV/UAV task coalition formation method is proposed and the effectiveness and practicability are demonstrated by simulation examples.
文摘A decentralized task planning algorithm is proposed for heterogeneous unmanned aerial vehicle(UAV)swarm with different capabilities.The algorithm extends the consensus-based bundle algorithm(CBBA)to account for a more realistic and complex environment.The extension of the algorithm includes handling multi-agent task that requires multiple UAVs collaboratively completed in coordination,and consideration of avoiding obstacles in task scenarios.We propose a new consensus algorithm to solve the multi-agent task allocation problem and use the Dubins algorithm to design feasible paths for UAVs to avoid obstacles and consider motion constraints.Experimental results show that the CBBA extension algorithm can converge to a conflict-free and feasible solution for multi-agent task planning problems.
