Optimization of Dynamic Task Allocation forMulti-UAV Systems: Search and Rescue Scenario

Optimization of Dynamic Task Allocation forMulti-UAV Systems: Search and Rescue Scenario | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Optimization of Dynamic Task Allocation forMulti-UAV Systems: Search and Rescue Scenario Rahim Ali Qamar, Mubashar Sarfraz, Sajjad Ahmed Ghauri, Noman Anwar Baig, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3879027/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Unmanned aerial vehicles (UAVs) are becomingincreasingly popular due to their versatility and cost-effectivenessand are used in various scenarios, such as sea exploration andsearch and rescue missions. Urban search and rescue requires aprompt and effective response to unforeseen events like faultsin UAVs, changes in task duration and deadline, new UAVarrivals, and task deletions. This paper extends the compromiseddynamic performance impact (CDPI) algorithm and introducesan enhanced CDPI (ECDPI) that can effectively handle dynamicevents during task execution. For dynamic event handling inthe ECDPI algorithm, the communication and conflict resolutionphase uses the time cost vector of each UAV for its assignedtask, as well as improvements in the detect dynamic activity function. In addition, limitations and cases against dynamicevents are discussed to exploit the proposed scheme effectively.The simulation results demonstrate that ECDPI is highly effectiveat handling dynamic events during the task execution phase Multi-UAV Systems Dynamic Task Allocation Enhanced Compromised Dynamic Performance Impact Search and Rescue. Full Text Additional Declarations No competing interests reported. Supplementary Files RahimFINAL.rar Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3879027","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":268727585,"identity":"7814c423-0250-423e-a284-23e95e102f45","order_by":0,"name":"Rahim Ali Qamar","email":"","orcid":"","institution":"Isra University","correspondingAuthor":false,"prefix":"","firstName":"Rahim","middleName":"Ali","lastName":"Qamar","suffix":""},{"id":268727586,"identity":"2d296cb5-2043-430d-9240-b90c7f9afc72","order_by":1,"name":"Mubashar Sarfraz","email":"","orcid":"","institution":"National University of Modern 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