Combinatorial optimization: algorithms and complexity
Combinatorial optimization: algorithms and complexity
Optimization
Coalition structure generation with worst case guarantees
Artificial Intelligence
Recent approaches to global optimization problems through Particle Swarm Optimization
Natural Computing: an international journal
Multi-Agent Coordination through Coalition Formation
ATAL '97 Proceedings of the 4th International Workshop on Intelligent Agents IV, Agent Theories, Architectures, and Languages
Multiple UAV task allocation using negotiation
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Particle swarm optimization for integer programming
CEC '02 Proceedings of the Evolutionary Computation on 2002. CEC '02. Proceedings of the 2002 Congress - Volume 02
Methods for task allocation via agent coalition formation
Artificial Intelligence
Multi-robot coalition formation
IEEE Transactions on Robotics
Multi-objective robot coalition formation for non-additive environments
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Networking Models in Flying Ad-Hoc Networks (FANETs): Concepts and Challenges
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
Unmanned aerial vehicles (UAVs) have the potential to carry resources in support of search and prosecute operations. Often to completely prosecute a target, UAVs may have to simultaneously attack the target with various resources with different capacities. However, the UAVs are capable of carrying only limited resources in small quantities, hence, a group of UAVs (coalition) needs to be assigned that satisfies the target resource requirement. The assigned coalition must be such that it minimizes the target prosecution delay and the size of the coalition. The problem of forming coalitions is computationally intensive due to the combinatorial nature of the problem, but for real-time applications computationally cheap solutions are required. In this paper, we propose decentralized sub-optimal (polynomial time) and decentralized optimal coalition formation algorithms that generate coalitions for a single target with low computational complexity. We compare the performance of the proposed algorithms to that of a global optimal solution for which we need to solve a centralized combinatorial optimization problem. This problem is computationally intensive because the solution has to (a) provide a coalition for each target, (b) design a sequence in which targets need to be prosecuted, and (c) take into account reduction of UAV resources with usage. To solve this problem we use the Particle Swarm Optimization (PSO) technique. Through simulations, we study the performance of the proposed algorithms in terms of mission performance, complexity of the algorithms and the time taken to form the coalition. The simulation results show that the solution provided by the proposed algorithms is close to the global optimal solution and requires far less computational resources.