Author

Wen Wu

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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