A Damage-Tolerant Task Assignment Algorithm for UAV Swarm in Confrontational Environments

Algorithm 2

Backup Copies Assigning in DTTA.

1 Get p_i of arrival task t_i^B;

2 Let in U that satisfies task t_i’ demands;

3 foreachu_j in do.

4  Calculate the distance d_ij between task t_i and UAV u_j;

5 Sort in an increasing order by the value of d_ij;

6 U_candidate ⟵ top α% UAV in ;

7 AllocateTag ⟵ FALSE;

8 while!all u_j∈Uhas been scanneddo.

9  Sort U_candidate by task count in ascending order;

10  foreachu_j in U_candidatedo.

11   ift_i^B can overlap with u_j’ last task then.

12    Calculate EFT_j(t_i^B) in overlapping mode;

13    ifEFT_j(t_i^B)<td_ithen.

14     AllocateTag ⟵ TRUE;

15     Assign t_i^B on UAV u_j in overlapping mode;

16     st(t_i) ⟵1;

17     break;

18  ifAllocateTag = FALSE;

19   foreachu_j in U_candidatedo.

20   Calculate EFT_j(t_i^B) in non-overlapping mode;

21   ifEFT_j(t_i^B)<td_ithen.

22    AllocateTag ⟵ TRUE;

23    Assign t_i^B on UAV u_j in non-overlapping mode;

24    st(t_i) ⟵1;

25    break;

26  ifAllocateTag = TRUE;

27   break;

28  U_candidate ⟵ next top α% UAV in ;

29  ifallocateTag ⟵ FALSEthen.

30  Reject t_i^B;