Hierarchical Coordination of UAVs for Dynamic Task Assignment in Large-Scale Traffic Surveillance Missions

Teewende Boris kiema, Hélène Piet-Lahanier, Najett Neji, Samia Bouchafa

2025

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 scheme when addressing dynamic and large-scale surveillance scenarios.

Paper Citation

in Bibtex Style

@conference{icinco25,
author={Teewende kiema and Hélène Piet-Lahanier and Najett Neji and Samia Bouchafa},
title={Hierarchical Coordination of UAVs for Dynamic Task Assignment in Large-Scale Traffic Surveillance Missions},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2025},
pages={290-297},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013746700003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Hierarchical Coordination of UAVs for Dynamic Task Assignment in Large-Scale Traffic Surveillance Missions
SN - 978-989-758-770-2
AU - kiema T.
AU - Piet-Lahanier H.
AU - Neji N.
AU - Bouchafa S.
PY - 2025
SP - 290
EP - 297
DO - 10.5220/0013746700003982
PB - SciTePress

in Harvard Style

kiema T., Piet-Lahanier H., Neji N. and Bouchafa S. (2025). Hierarchical Coordination of UAVs for Dynamic Task Assignment in Large-Scale Traffic Surveillance Missions. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 290-297. DOI: 10.5220/0013746700003982