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

In the rapidly evolving field of aerial robotics, the coordinated management of multiple unmanned aerial vehicle (multi-UAV) systems to address complex and dynamic environments is increasingly critical. Multi-UAV systems promise enhanced efficiency and effectiveness in various applications, from disaster response to infrastructure inspection, by leveraging the collective capabilities of UAV fleets. However, the dynamic nature of such environments presents significant challenges in task allocation and real-time adaptability. This paper introduces a novel hybrid algorithm designed to optimize multi-UAV task assignments in dynamic environments. State-of-the-art solutions in this domain have exhibited limitations, particularly in rapidly responding to dynamic changes and effectively scaling to large-scale environments. The proposed solution bridges these gaps by combining clustering to group and assign tasks in an initial offline phase with a dynamic partial reassignment process that locally updates assignments in response to real-time changes, all within a centralized-distributed communication topology. The simulation results validate the superiority of the proposed solution and demonstrate its improvements in efficiency and responsiveness over existing solutions. Additionally, the results highlight the scalability of the solution in handling large-scale problems and demonstrate its ability to efficiently manage a growing number of UAVs and tasks. It also demonstrated robust adaptability and enhanced mission effectiveness across a wide range of dynamic events and different scale scenarios.