A Heuristic Task Allocation Method Based on Overlapping Coalition Formation Game for Heterogeneous UAVs

作者：Yibing Li, Zitang Zhang, Zongyu He, Qian Sun · 发表于：IEEE Internet of Things Journal · 年份：2024 · DOI：10.1109/jiot.2024.3406336 · 被引用次数：26 · 研究领域：Optimization and Search Problems、Transportation and Mobility Innovations、Facility Location and Emergency Management

The demand for heterogeneous unmanned aerial vehicles (UAVs) equipped with various types and complementary resources to perform complex tasks is increasing. Existing researches on game theory-based resource allocation primarily focus on continuous resources, by establishing models and transforming them into convex optimization problems. However, the discrete task resource allocation problem considered in this paper does not meet the assumptions of continuous optimization models, therefore, a reasonable allocation method is needed. To enhance the allocation efficiency for multi-UAVs operating under discrete resource constraints, we design a heuristic task allocation method based on game theory. Our method integrates multiple critical factors, including task priority and dynamic task benefits, into the resource matching process, offering a robust solution tailored to the diverse demands. Specifically, we first establish an optimization model encompassing UAVs, requirements and revenue, then we adopt a utility function to depict these relationships. Furthermore, considering the distributed cooperative characteristics of UAVs during task execution, we incorporate the correspondence between UAVs and tasks into the framework of a coalition formation game (CFG). Building on this foundation, we develop a heuristic allocation method based on task validity matching and an ineffective resource exit mechanism. We also introduce tabu lists to avoid ineffective searches, aiming to enhance ...