Real-Time Unmanned Vehicles Task Allocation with Moving Targets

The problem of task allocation for a fleet of unmanned aerial vehicles (UAV), in the presence of moving targets, was discussed using a viable algorithms in the real-time sense. It was found that a N UAVs must fly through a partial unknown environment to reach M known locations, or targets, where a set of tasks must be performed. It was found that when the targets were not moving, an optimal solution to the task allocation problem exist. The task allocation problem with obstacle with obstacle avoidance and sequentially constraint was solved with a pipeline procees that performs the most computationally intensive tasks off-line.