Performance Evaluation of Multi-UAV Cooperative Mission Planning Models

The Multi-UAV Cooperative Mission Planning Problem (MCMPP) is a complex problem which can be represented with a lower or higher level of complexity. In this paper we present a MCMPP which is modelled as a Constraint Satisfaction Problem (CSP) with 5 increasing levels of complexity. Each level adds additional variables and constraints to the problem. Using previous models, we solve the problem using a Branch and Bound search designed to minimize the fuel consumption and number of UAVs employed in the mission, and the results show how runtime increases as the level of complexity increases in most cases, as expected, but there are some cases where the opposite happens.