Theory and Realization of Secondary Task Assignment for Multi-UAV Pickup Based on Green Scheduling

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677V653C82 648 87 642 87 576V104C87 40 81 32 14 26V0H237V26C173 32 165 38 165 104V215C171 217 176 218 181 218C189 218 198 212 212 196C267 129 330 49 376 -2L513 0Z"></path></g><g transform="matrix(.013,0,0,-0.013,37.966,0)"><path d="M797 0V26C739 32 732 36 732 103V296C732 394 682 449 605 449C576 449 550 437 529 423C504 407 475 389 446 366C425 418 382 449 334 449C303 449 279 437 253 421C222 403 201 385 180 371V452C135 432 85 419 41 411V388C99 379 102 374 102 310V103C102 38 93 32 27 26V0H238V26C189 32 180 38 180 103V338C210 363 250 390 289 390C351 390 377 348 377 275V103C377 37 368 32 306 26V0H520V26C465 32 456 38 456 101V296C456 314 455 326 453 338C491 369 529 390 565 390C628 390 653 345 653 274V107C653 36 642 32 583 26V0H797Z"></path></g></svg></span></td></tr><tr class="thead"><td class="align_center">Distance (km)</td><td class="align_center">Time (min)</td><td class="align_center">Distance (km)</td><td class="align_center">Time (km)</td><td class="align_center">Distance (min)</td><td class="align_center">Time (km)</td><td class="align_center">Distance (km)</td><td class="align_center">Time (min)</td><td class="align_center">Distance (km)</td><td class="align_center">Time (km)</td></tr><tr><td class="thead-hr" colspan="11"><hr/></td></tr><tr><td class="align_left">Local</td><td class="align_center">12.1281</td><td class="align_center">6.5031</td><td class="align_center">24.0385</td><td class="align_center">12.8648</td><td class="align_center">36.3274</td><td class="align_center">19.6593</td><td class="align_center">46.8312</td><td class="align_center">25.5667</td><td class="align_center">62.3682</td><td class="align_center">34.0831</td></tr><tr><td class="align_left">Global</td><td class="align_center">12.0771</td><td class="align_center">6.5364</td><td class="align_center">23.9490</td><td class="align_center">12.9662</td><td class="align_center">36.1841</td><td class="align_center">19.8004</td><td class="align_center">46.6705</td><td class="align_center">25.7123</td><td class="align_center">62.1633</td><td class="align_center">34.2576</td></tr><tr class="table-tr"><td colspan="11"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The average of the results of the two algorithms.</div>

Complexity

tab8

Table 8

Table 8: Theory and Realization of Secondary Task Assignment for Multi-UAV Pickup Based on Green Scheduling 