A real-time algorithm of task allocation and trajectory planning considering task weights for drone swarms

This paper describes a real-time algorithm of task allocation and trajectory planning for drone swarms. The task allocation algorithm is designed based on the CAPT algorithm, and especially, it allocates tasks considering task weights. Also, the trajectory planning algorithm generates minimum snap trajectories which are dynamically feasible for drones of multi-rotor types, and guarantees collision avoidance between neighboring agents. The proposed algorithm is implemented using various libraries, and can be executable in the ROS environment, and simulation results confirm feasibility of the proposed algorithm. © ICROS 2021.