TY - GEN
T1 - Preceding-Task Trajectory Matrix Method for Curvature-Bounded Multi-UAV Task Planning
AU - Tian, Haoyu
AU - Jiang, Xueer
AU - Wang, Yankun
AU - Nie, Zisen
AU - Li, Xin
AU - Yao, Weiran
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2026.
PY - 2026
Y1 - 2026
N2 - In the multi-UAV task planning problem, the curvature constraints of UAVs make the task execution solutions showing diversity, which brings challenges to the evaluation accuracy of task solutions and the allocation effectiveness. To address this problem, this paper designs a preceding-task trajectory matrix (PTTM) method as a novel decentralized task planning framework. The PTTM method adopts multiple optimal three-point trajectories as a fast approximation of the integral trajectory to estimate the overall reward of task sequences, to avoid extensive trajectory planning calculations, and a numerical solution is designed for the calculation of the elements in the PTTM model. Based on the consensus-based bundle algorithm, PTTM-CBBA algorithm is proposed, which includes the bidding procedure and market negotiation procedure. The simulation results show that compared with the original CBBA without PTTM, the algorithm proposed in this paper can obtain higher task rewards, that is, the multi-UAV system can achieve higher task execution performance.
AB - In the multi-UAV task planning problem, the curvature constraints of UAVs make the task execution solutions showing diversity, which brings challenges to the evaluation accuracy of task solutions and the allocation effectiveness. To address this problem, this paper designs a preceding-task trajectory matrix (PTTM) method as a novel decentralized task planning framework. The PTTM method adopts multiple optimal three-point trajectories as a fast approximation of the integral trajectory to estimate the overall reward of task sequences, to avoid extensive trajectory planning calculations, and a numerical solution is designed for the calculation of the elements in the PTTM model. Based on the consensus-based bundle algorithm, PTTM-CBBA algorithm is proposed, which includes the bidding procedure and market negotiation procedure. The simulation results show that compared with the original CBBA without PTTM, the algorithm proposed in this paper can obtain higher task rewards, that is, the multi-UAV system can achieve higher task execution performance.
KW - curvature-bounded trajectory planning
KW - preceding-task trajectory matrix
KW - task allocation
UR - https://www.scopus.com/pages/publications/105040394079
U2 - 10.1007/978-981-95-7648-7_6
DO - 10.1007/978-981-95-7648-7_6
M3 - 会议稿件
AN - SCOPUS:105040394079
SN - 9789819576470
T3 - Lecture Notes in Electrical Engineering
SP - 64
EP - 74
BT - Proceedings of 5th 2025 International Conference on Autonomous Unmanned Systems (ICAUS)
A2 - Xie, Shaorong
A2 - Niu, Yifeng
A2 - Fu, Wenxing
A2 - Qu, Yi
PB - Springer Science and Business Media Deutschland GmbH
T2 - 5th International Conference on Autonomous Unmanned Systems, ICAUS 2025
Y2 - 17 October 2025 through 19 October 2025
ER -