Real-Time Task Allocation of Heterogeneous Unmanned Aerial Vehicles for Search and Prosecute Mission

<div>The trajectories of <svg height="12.1958pt" id="M262" style="vertical-align:-3.181479pt" version="1.1" viewbox="-0.0498162 -9.01432 16.0331 12.1958" width="16.0331pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M805 658H719L589 415C537 319 349 15 237 15C214 15 208 28 208 43C208 59 219 86 247 130L433 417C464 464 471 506 471 541C471 638 384 687 292 687C164 687 36 597 36 474C36 406 83 360 151 360C238 360 296 442 309 509H289C265 440 225 390 150 390C103 390 77 426 77 474C77 582 175 652 283 652C340 652 404 619 404 568C404 541 397 512 368 467L223 240C170 155 153 111 153 73C153 18 186 -15 234 -15C290 -15 367 41 439 138L442 137C427 106 425 83 425 66C425 18 463 -12 511 -12C575 -12 638 42 714 134L693 147C621 63 565 18 525 18C506 18 492 28 492 53C492 60 493 77 509 108L805 658Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.946,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg> and <span class="nowrap"><svg height="12.1958pt" id="M263" style="vertical-align:-3.181479pt" version="1.1" viewbox="-0.0498162 -9.01432 16.0331 12.1958" width="16.0331pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M805 658H719L589 415C537 319 349 15 237 15C214 15 208 28 208 43C208 59 219 86 247 130L433 417C464 464 471 506 471 541C471 638 384 687 292 687C164 687 36 597 36 474C36 406 83 360 151 360C238 360 296 442 309 509H289C265 440 225 390 150 390C103 390 77 426 77 474C77 582 175 652 283 652C340 652 404 619 404 568C404 541 397 512 368 467L223 240C170 155 153 111 153 73C153 18 186 -15 234 -15C290 -15 367 41 439 138L442 137C427 106 425 83 425 66C425 18 463 -12 511 -12C575 -12 638 42 714 134L693 147C621 63 565 18 525 18C506 18 492 28 492 53C492 60 493 77 509 108L805 658Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.946,3.132)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z"></path></g></svg>.</span></div>

Wireless Communications and Mobile Computing

fig9

Figure 9

Figure 9: Real-Time Task Allocation of Heterogeneous Unmanned Aerial Vehicles for Search and Prosecute Mission 