Open access
Jun 2026
Distributed Task Allocation and Trajectory Planning for Heterogeneous UAV Swarms in Multi-Constraint Environments
The Sequentially Extended Consensus-Based Bundle Algorithm (SECBBA), a deadlock-free distributed scheduling framework, is proposed, extending through the integration of a deadlock detection and resolution mechanism based on directed graph Depth-First Search, thereby guaranteeing conflict-free task allocation.
Bochang Yu, Feng Gao, Wen Wu et al.
· Aerospace · 0 citations