Solving “Limited” Task Allocation Problem for UAVs Based on Optimization Algorithms

Pseudocode 1

Pseudocode of the brute-force algorithm.

Input: UAVs, Tasks, Key Tasks.

Output: The best task assignment sequence and its objective function value.

1: For each UAV u_i

2: Get all of its executable tasks;

3: Arrange the tasks in full order;

4: Get all the executable task sequences of the UAV execQueue;

5: For each task sequence in execQueue

6: If not all key-tasks exist

7:  Delete current task sequence;

8: For each task sequence in execQueue

9: Evaluation function of computing task sequence;

10: Sort the execQueue according to the evaluation results;

11: Select the best task sequence after sorting.