Research Article
A Damage-Tolerant Task Assignment Algorithm for UAV Swarm in Confrontational Environments
Algorithm 2
Backup Copies Assigning in DTTA.
1 Get pi of arrival task tiB; | 2 Let in U that satisfies task ti’ demands; | 3 foreachuj in do. | 4 Calculate the distance dij between task ti and UAV uj; | 5 Sort in an increasing order by the value of dij; | 6 Ucandidate ⟵ top α% UAV in ; | 7 AllocateTag ⟵ FALSE; | 8 while!all uj∈Uhas been scanneddo. | 9 Sort Ucandidate by task count in ascending order; | 10 foreachuj in Ucandidatedo. | 11 iftiB can overlap with uj’ last task then. | 12 Calculate EFTj(tiB) in overlapping mode; | 13 ifEFTj(tiB)<tdithen. | 14 AllocateTag ⟵ TRUE; | 15 Assign tiB on UAV uj in overlapping mode; | 16 st(ti) ⟵1; | 17 break; | 18 ifAllocateTag = FALSE; | 19 foreachuj in Ucandidatedo. | 20 Calculate EFTj(tiB) in non-overlapping mode; | 21 ifEFTj(tiB)<tdithen. | 22 AllocateTag ⟵ TRUE; | 23 Assign tiB on UAV uj in non-overlapping mode; | 24 st(ti) ⟵1; | 25 break; | 26 ifAllocateTag = TRUE; | 27 break; | 28 Ucandidate ⟵ next top α% UAV in ; | 29 ifallocateTag ⟵ FALSEthen. | 30 Reject tiB; |
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