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dc.contributor.authorÖzalp, N.
dc.contributor.authorAyan, U.
dc.contributor.authorÖztop, Erhan
dc.date.accessioned2016-02-11T14:25:49Z
dc.date.available2016-02-11T14:25:49Z
dc.date.issued2015
dc.identifier.isbn978-146737509-2
dc.identifier.urihttp://hdl.handle.net/10679/2135
dc.identifier.urihttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7251517
dc.descriptionDue to copyright restrictions, the access to the full text of this article is only available via subscription.
dc.description.abstractThis research is focused on the cooperative multi-task assignment problem for heterogeneous UAVs, where a set of multiple tasks, each requiring a predetermined number of UAVs, have to be completed at specific locations. We modeled this as an optimization problem to minimize the number of uncompleted tasks while also minimizing total airtime and total distance traveled by all the UAVs. By taking into account the UAV flight capacities. For the solution of the problem, we adopted a multi-Traveling Salesman Problem (mTSP) method [1] and designed a new genetic structure for it so that it can be applied to cooperative multi-task assignment problems. Furthermore, we developed two domain specific mutation operators to improve the quality of the solutions in terms of number of uncompleted tasks, total airtime and total distance traveled by all the UAVs. The simulation experiments showed that these operators significantly improve the solution quality. Our main contributions are the application of the Multi Structure Genetic Algorithm (MSGA) to cooperative multi-task assignment problem and the development of two novel mutation operators to improve the solution of MSGA.
dc.description.sponsorshipTÜBİTAK
dc.language.isoengen_US
dc.publisherIEEE
dc.relationinfo:turkey/grantAgreement/TUBITAK
dc.relation.ispartofAdvanced Robotics (ICAR), 2015 International Conference on
dc.rightsrestrictedAccess
dc.titleCooperative multi-task assignment for heterogonous UAVsen_US
dc.typeConference paperen_US
dc.peerreviewedyes
dc.publicationstatuspublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan
dc.contributor.ozuauthorÖztop, Erhan
dc.identifier.startpage599
dc.identifier.endpage604
dc.identifier.wosWOS:000380471000093
dc.identifier.doi10.1109/ICAR.2015.7251517
dc.subject.keywordsTask assignment
dc.subject.keywordsGenetic algorithm
dc.subject.keywordsUAV
dc.subject.keywordsHeuristic task assignment
dc.subject.keywordsCooperative task
dc.subject.keywordsAgent
dc.identifier.scopusSCOPUS:2-s2.0-84957610016
dc.contributor.authorMale1


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