A Hybrid Method to Solve the Multi-UAV Dynamic Task Assignment Problem

. 2025 Apr 16;25(8):2502. doi: 10.3390/s25082502

Algorithm 3 Fully . Distributed Dynamic Task Execution

Input:

$U_{i}$ : UAV information, including assigned task list ( $a_{i}$ ), capacity load ( $L_{i}$ ), and velocity ( $v_{i}$ ).

Output:

1:
for $j = 1 To |a_{i}|$ do
2:
if $t s_{j} \leq currentTime and t e_{j} \geq currentTime$ then
3:
Move $U_{i}$ to $T_{j}$ location.
4:
Set $x_{i, j} = 1$ .
5:
Compute $τ_{i, j}$ based on Equation (4).
6:
else if $t e_{j} < currentTime$ then
7:
Set $x_{i, j} = 0$ .
8:
end if
9:
Read $U_{i}$ lidar sensor.

$l i d a r R e a d i n g \leftarrow$ read( $l i d a r_{i}$ )
10:
if $U_{i}$ detects a dynamic event then
11:
Notify the central controller of the event occurrence by calling Algorithm 7.

( $U \leftarrow Algorithm 7 (i, U, l i d a r R e a d i n g)$ )
12:
end if
13:
end for
14:
Notify the central controller of the idleness state by calling Algorithm 7.

( $U \leftarrow Algorithm 7 (i, U, U A V i d l e n e s s)$ )