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

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

Algorithm 6 Balance UAVs Across Clusters

Input:

Output:

Step 1: Compute the Initial Number of UAVs Per Cluster

1:
Compute the initial number of tasks per UAV:

$n T U \leftarrow ⌊ M / N ⌋$
2:
Initialize the number of unassigned UAVs:

$u n U \leftarrow N$
3:
for $k = 1$ to $n C$ do
4:
Calculate the number of tasks in cluster $C_{k}$ :

$n T C_{k} \leftarrow | C_{k} |$
5:
Compute the initial number of UAVs for cluster $C_{k}$ :

$n U C_{k} \leftarrow ⌊ n T C_{k} / n T U ⌋$
6:
Update the number of unassigned UAVs:

$u n U \leftarrow u n U - n U C_{k}$
7:
end for

Step 2: Balance and Distribute Extra UAVs Among Clusters

8:
if $u n U \neq 0$ then
9:
for $q = 1$ to $u n U$ do
10:
        Initialize the most crowded cluster:

        $i d x C r o w d e d C \leftarrow 0$

        $l C r o w d e d C \leftarrow 0$
11:
for $k = 1$ to $n C$ do
12:
Compute initial UAV load in cluster $C_{k}$ :

$I U L_{k} \leftarrow ⌊ n T C_{k} / n U C_{k} ⌋$
13:
if $I U L_{k} > l C r o w d e d C$ then
14:
               Update the most crowded cluster index and load.

                $l C r o w d e d C \leftarrow I U L_{k}$

                $i d x C r o w d e d C \leftarrow k$
15:
end if
16:
end for
17:
Assign the extra UAV to the most crowded cluster.

$n U C_{i d x C r o w d e d C} \leftarrow n U C_{i d x C r o w d e d C} + 1$
18:
end for
19:
end if
20:
Assign UAVs to each cluster based on $n U C_{k}$ .