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

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

Algorithm 5 Initialize UAVs and Sensors

Input:

Output:

U: UAVs’ current information, including assigned task list, velocity, load and current location.

1:
for $i = 1$ to N do
2:
    Initialize the assigned task list of $U_{i}$ as empty and set its location to the station’s coordinates.

     $a_{i} \leftarrow ϕ$ .

     $l o c_{i} \leftarrow$ Station’s coordinates.
3:
    Initialize $U_{i}$ maximum load and velocity.

     $L_{i} \leftarrow$ Given max load value.

     $v_{i} \leftarrow$ Given velocity value.
4:
Mount $U_{i}$ platform with a Lidar sensor for detection purposes.

${lidar}_{i} \leftarrow$ Mount(LidarSensor).
5:
end for