A Technique of Distributed Missions Assignment Problem Solving in Heterogeneous Groups of Aerial Rescue Robots

Abstract

This research considers a problem of missions assignment in the heterogeneous group of aerial rescue robots, which function without obstacles on plain landscape. A new technique of distributed missions assignment problem solving is proposed, based on the metaheuristic optimization algorithms independent runs, which are launched on ARRs in a distributed manner. The novelty of the technique is that blocks of metaheuristics iterations with varying sizes are formed and distributed through the robotic group with the usage of efficient algorithms for the block size forming and assignment. This improves the makespan of distributed missions assignment problem solving significantly without considerable degrading of the overall missions assignment result.