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

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

Algorithm 8 Partial Reassignment Process

Input:

i: UAV that detected the dynamic event.

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

$newTasks$ : Newly detected task.

Output:

1:
$pU \leftarrow Identify top np UAVs the same cluster with the smallest distance to newTask$
2:
for each $U_{k} \in p U$ do
3:
${releasedTasks}_{k} \leftarrow Release top n r tasks, in a_{k}, with the farthest distance from U_{k}$
4:
end for
5:
Combine $newTasks$ with the released tasks into $reassignedTasks$ .

$reassignedTasks \leftarrow releasedTasks + newTasks$
6:
Re-run the distributed CBBA Algorithm by calling Algorithm 9 with the selected $n p$ UAVs and $reassignedTasks$ .

$p U \leftarrow$ Algorithm 9 ( $p U, r e a s s i g n e d T a s k s$ )
7:
Update task lists (a) of the $n p$ UAVs and re-initiate their operation by calling Algorithm 3.