Multi-UAV Task Allocation Based on Improved Contract Net Algorithm

In this paper, an improved contract net algorithm (ICN) is proposed to minimize the task execution time of multi-UAV system. A new bidding mode of task set bidding is proposed to over-come the shortcomings of the traditional single task list winning bidding mode in traditional contract net algorithm (TCN). With this mode the communication traffic of multi-UAV in large-scale scenarios is reduced by introducing type constraints and setting bidding thresholds. Also, an exchange strategy is proposed to further optimize the task allocation scheme. The simulation results show that the proposed ICN provide better task allocation scheme than TCN algorithm and the performance of algorithm is also improved.