Multi-UAV task allocation method considering single point of failure

The battlefield environment changes rapidly, especially when a single point of failure occurs in the battlefield environment, the original multi-UAV task allocation scheme needs to be adjusted quickly. In this paper, an improved Performance Impact (PI) algorithm is proposed to deal with the problem of multi-UAV distributed task allocation in the case of single point of failure. The Block-Information-Sharing (BIS) strategy is adopted to accelerate the convergence of task allocation schemes. A single point of failure strategy is proposed to solve the task allocation problem when a UAV fails. Simulation results show that the proposed single point of failure strategy can obtain a conflict-free task allocation scheme without affecting the normal operation of PI algorithm.