Distributed sequential auctions for multiple UAV task allocation

Allocating tasks efficiently to multiple UAVs with limited sensor and communication ranges is a difficult problem. In this paper, we present a distributed sequential auction scheme that takes the UAV limitations into account and provides a systematic procedure for the auction process. The task allocation scheme first validates the targets using neighbor's knowledge and then, depending on the decisions obtained from neighbors, an agent decides to auction or forfeit the target. The targets detected within a sensor range are validated and auctioned sequentially. A simulation study was conducted for different sensor and communication ranges to evaluate the performance of the sequential auction scheme which was compared with a greedy strategy and a simple distributed auction scheme. The results show that the sequential auction scheme performs better than the simple distributed auction and greedy strategy.