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

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

Algorithm 7 Dynamic Event Handler

Input:

i: Index of the UAV that detected a dynamic event.

$U$ : UAVs’ information, including assigned task lists (a), capacity loads (L), and velocities (v).

$lidarReading$ : Information about the dynamic event.

Output:

1:
if lidarReading == Detecting a new Task then
2:
$n e w T a s k s \leftarrow$ Newly detected task(s) by $U_{i}$
3:
Assign $n e w T a s k s$ to idle UAVs if available; otherwise, invoke Algorithm 8 for reassignment.

( $U \leftarrow Algorithm 8 (i, U, n e w T a s k s)$ )
4:
end if
5:
if lidarReading == UAV failure then
6:
$n e w T a s k s \leftarrow$ Unperformed tasks from $a_{i}$
7:
Remove $U_{i}$ from U
8:
Assign $n e w T a s k s$ to idle UAVs if available; otherwise, invoke Algorithm 8 for reassignment.

( $U \leftarrow Algorithm 8 (i, U, n e w T a s k s)$ )
9:
end if
10:
if lidarReading == UAV idleness then ▹ $a_{i} = \emptyset$
11:
if Unassigned or newly detected tasks exist then
12:
Assign available tasks to $U_{i}$ .
13:
else if All tasks are assigned but some UAVs are overloaded then
14:
$U_{i}$ assists the most loaded UAV in the same cluster.
15:
else
16:
Direct $U_{i}$ to assist the nearest uncovered cluster.
17:
end if
18:
end if