Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures Missions
The task allocation of autonomous underwater vehicles (AUVs) is a crucial aspect of ocean exploration and mission execution tasks. In a mine countermeasures (MCM) combat scenario, when a new suspicious mission point is detected in the mission area, the heterogeneous multi-AUV system requires realloc...
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MDPI AG
2025-02-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/3/465 |
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| author | Juan Li Baohua Liu Caiyun Liu Cong Lin |
| author_facet | Juan Li Baohua Liu Caiyun Liu Cong Lin |
| author_sort | Juan Li |
| collection | DOAJ |
| description | The task allocation of autonomous underwater vehicles (AUVs) is a crucial aspect of ocean exploration and mission execution tasks. In a mine countermeasures (MCM) combat scenario, when a new suspicious mission point is detected in the mission area, the heterogeneous multi-AUV system requires reallocation in real time. To address this, a soft time windows consensus-based bundle algorithm with partial reallocation (SWCBBA-PR) is designed. Based on the consensus-based bundle algorithm (CBBA), this algorithm comprehensively considers the underwater communication limitations and introduces the soft time window mechanism and partial reallocation mechanism. Its aim is to solve the partial reallocation problem that arises when new task points appear under the temporal-coupling constraints of complex underwater tasks. The SWCBBA-PR algorithm has been validated through simulation, demonstrating its ability to generate an optimal allocation scheme in the scenario of MCM mission emergence, and it exhibits good convergence performance. |
| format | Article |
| id | doaj-art-780be29bfe89455c890bbf13247d0566 |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-780be29bfe89455c890bbf13247d05662025-08-20T01:49:00ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-02-0113346510.3390/jmse13030465Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures MissionsJuan Li0Baohua Liu1Caiyun Liu2Cong Lin3College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaSchool of Information and Electronic Engineering, Shandong Technology and Business University, Yantai 265600, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThe task allocation of autonomous underwater vehicles (AUVs) is a crucial aspect of ocean exploration and mission execution tasks. In a mine countermeasures (MCM) combat scenario, when a new suspicious mission point is detected in the mission area, the heterogeneous multi-AUV system requires reallocation in real time. To address this, a soft time windows consensus-based bundle algorithm with partial reallocation (SWCBBA-PR) is designed. Based on the consensus-based bundle algorithm (CBBA), this algorithm comprehensively considers the underwater communication limitations and introduces the soft time window mechanism and partial reallocation mechanism. Its aim is to solve the partial reallocation problem that arises when new task points appear under the temporal-coupling constraints of complex underwater tasks. The SWCBBA-PR algorithm has been validated through simulation, demonstrating its ability to generate an optimal allocation scheme in the scenario of MCM mission emergence, and it exhibits good convergence performance.https://www.mdpi.com/2077-1312/13/3/465autonomous underwater vehicles (AUVs)mine countermeasures (MCM)consensus-based bundle algorithm (CBBA)task allocation |
| spellingShingle | Juan Li Baohua Liu Caiyun Liu Cong Lin Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures Missions Journal of Marine Science and Engineering autonomous underwater vehicles (AUVs) mine countermeasures (MCM) consensus-based bundle algorithm (CBBA) task allocation |
| title | Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures Missions |
| title_full | Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures Missions |
| title_fullStr | Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures Missions |
| title_full_unstemmed | Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures Missions |
| title_short | Dynamic Task Allocation for Heterogeneous Multi-Autonomous Underwater Vehicle Collaboration Under Mine Countermeasures Missions |
| title_sort | dynamic task allocation for heterogeneous multi autonomous underwater vehicle collaboration under mine countermeasures missions |
| topic | autonomous underwater vehicles (AUVs) mine countermeasures (MCM) consensus-based bundle algorithm (CBBA) task allocation |
| url | https://www.mdpi.com/2077-1312/13/3/465 |
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