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Deploying the Max-Sum Algorithm for Coordination and Task Allocation of Unmanned Aerial Vehicles for Live Aerial Imagery Collection

Deploying the Max-Sum Algorithm for Coordination and Task Allocation of Unmanned Aerial Vehicles for Live Aerial Imagery Collection
Deploying the Max-Sum Algorithm for Coordination and Task Allocation of Unmanned Aerial Vehicles for Live Aerial Imagery Collection
We introduce a new technique for coordinating teams of unmanned aerial vehicles (UAVs) when deployed to collect live aerial imagery of the scene of a disaster. We define this problem as one of task assignment where the UAVs dynamically coordinate over tasks representing the imagery collection requests. To measure the quality of the assignment of one or more UAVs to a task, we propose a novel utility function which encompasses several constraints, such as the task’s importance and the UAVs’ battery capacity so as to maximise performance. We then solve the resulting optimisation problem using a fully asynchronous and decentralised implementation of the max-sum algorithm, a well known message passing algorithm previously used only in simulated domains. Finally, we evaluate our approach both in simulation and on real hardware. First, we empirically evaluate our utility and show that it yields a better trade off between the quantity and quality of completed tasks than similar utilities that do not take all the constraints into account. Second, we deploy it on two hexacopters and assess its practical viability in the real world.
978-1-4673-1403-9
469-476
Delle Fave, Francesco Maria
1a71a79a-fb96-4bfc-9158-36f8dcb5d96f
Rogers, Alex
f9130bc6-da32-474e-9fab-6c6cb8077fdc
Xu, Zhe
b377e17c-b1dc-45d0-84ec-7f7862743d55
Sukkarieh, Salah
ffa40f5a-fabf-4131-ac9a-87b2f909e118
Jennings, Nick
ab3d94cc-247c-4545-9d1e-65873d6cdb30
Delle Fave, Francesco Maria
1a71a79a-fb96-4bfc-9158-36f8dcb5d96f
Rogers, Alex
f9130bc6-da32-474e-9fab-6c6cb8077fdc
Xu, Zhe
b377e17c-b1dc-45d0-84ec-7f7862743d55
Sukkarieh, Salah
ffa40f5a-fabf-4131-ac9a-87b2f909e118
Jennings, Nick
ab3d94cc-247c-4545-9d1e-65873d6cdb30

Delle Fave, Francesco Maria, Rogers, Alex, Xu, Zhe, Sukkarieh, Salah and Jennings, Nick (2012) Deploying the Max-Sum Algorithm for Coordination and Task Allocation of Unmanned Aerial Vehicles for Live Aerial Imagery Collection. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), United States. 14 - 18 May 2012. pp. 469-476 . (doi:10.1109/ICRA.2012.6225053).

Record type: Conference or Workshop Item (Paper)

Abstract

We introduce a new technique for coordinating teams of unmanned aerial vehicles (UAVs) when deployed to collect live aerial imagery of the scene of a disaster. We define this problem as one of task assignment where the UAVs dynamically coordinate over tasks representing the imagery collection requests. To measure the quality of the assignment of one or more UAVs to a task, we propose a novel utility function which encompasses several constraints, such as the task’s importance and the UAVs’ battery capacity so as to maximise performance. We then solve the resulting optimisation problem using a fully asynchronous and decentralised implementation of the max-sum algorithm, a well known message passing algorithm previously used only in simulated domains. Finally, we evaluate our approach both in simulation and on real hardware. First, we empirically evaluate our utility and show that it yields a better trade off between the quantity and quality of completed tasks than similar utilities that do not take all the constraints into account. Second, we deploy it on two hexacopters and assess its practical viability in the real world.

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Published date: 15 May 2012
Venue - Dates: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), United States, 2012-05-14 - 2012-05-18
Organisations: Agents, Interactions & Complexity

Identifiers

Local EPrints ID: 273089
URI: https://eprints.soton.ac.uk/id/eprint/273089
ISBN: 978-1-4673-1403-9
PURE UUID: 8f3da07a-5a42-4e39-a61a-dc7ac4cad616

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Date deposited: 02 Jan 2012 11:07
Last modified: 19 Jul 2019 22:06

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