Authors:
Teewende Boris kiema
1
;
Hélène Piet-Lahanier
2
;
Najett Neji
1
and
Samia Bouchafa
1
Affiliations:
1
Université Paris Saclay, Univ Evry, IBISC Laboratory, Evry, France
;
2
DTIS, ONERA Université Paris Saclay, Palaiseau, France
Keyword(s):
Unmanned Aerial Vehicles, Multi-Agent Systems, Task Assignment, Mission Planning, Traffic Surveillance, Centralized Control, Receding Horizon Control.
Abstract:
This paper presents an hierarchical coordination architecture for a fleet of UAVs dedicated to road traffic surveillance over large urban areas. The system is built around a central drone, acting as a coordinator, which is responsible for monitoring the status of the fleet and dynamically assigning surveillance tasks in response to reported traffic events. To ensure scalability and responsiveness, our architecture combines a spatial clustering mechanism to partition mission area and distribute drones accordingly, with a receding horizon task assignment (RHTA) strategy within each sub-region. The fleet coordination requires designing specific trajectories for the central drone to ensure communication within the fleet and periodic updates of the surveillance information. This hybrid approach enables adaptive, region-based task allocation while preserving a global overview through the coordinator. Simulation results highlight the relevance and flexibility of the proposed coordination sc
heme when addressing dynamic and large-scale surveillance scenarios.
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