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Abstract:
This paper addresses the issue of task assignment and scheduling for teams of cooperative Unmanned Aerial Vehicles (UAVs) operating in a semi-autonomous manner with a single operator controlling the multiple-vehicle team. Mixed-Integer Linear Programming (MILP) is a highly effective technique for expressing this type of complex optimization problem because it allows for binary decision variables, continuous timing variables, and an extensive, flexible constraint set. A general MILP formulation is proposed, allowing a wide variety of vehicle capabilities and mission requirements to be incorporated. Possible task coupling constraints include precedence constraints, time windows, simultaneous tasks, joint tasks, and more. A variety of scenarios, with heterogeneous vehicles, and a wide range of mission constraints can be addressed.
| Limitations: |
 APPROVED FOR PUBLIC RELEASE |
| Description: |
Conference paper |
| Pages: |
23 |
| Report Date: |
JAN 2007 |
| Report Number: |
A401764 |
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