Optimal UAV Task Assignment and Scheduling (Preprint)
AIR FORCE RESEARCH LAB WRIGHT-PATTERSON AFB OH AIR VEHICLES DIRECTORATE
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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.
- Pilotless Aircraft
- Numerical Mathematics