We incorporate communication into the multi-UAV path planning problem for search and rescue missions to enable dynamic task allocation via information dissemination. Communication is not treated as a constraint but a mission goal. While achieving this goal, our aim is to avoid compromising the area coverage goal and the overall mission time. We define the mission tasks as: search, inform, and monitor at the best possible link quality. Building on our centralized simultaneous inform and connect (SIC) path planning strategy, we propose two adaptive strategies: (1) SIC with QoS (SICQ): optimizes search, inform, and monitor tasks simultaneously and (2) SIC following QoS (SIC+): first optimizes search and inform tasks together and then finds the optimum positions for monitoring. Both strategies utilize information as soon as it becomes available to determine UAV tasks. The strategies can be tuned to prioritize certain tasks in relation to others. We illustrate that more tasks can be performed in the given mission time by efficient incorporation of communication in the path design. We also observe that the quality of the resultant paths improves in terms of connectivity.

中文翻译：

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具有服务质量要求的搜索和救援多目标无人机路径规划

我们将通信纳入用于搜索和救援任务的多无人机路径规划问题中，以通过信息传播实现动态任务分配。交流不被视为一种约束，而是使命目标。在实现这一目标的同时，我们的目标是避免损害区域覆盖目标和整个任务时间。我们将任务定义为：以最佳的链接质量搜索，通知和监视。基于我们的集中式同时通知和连接（SIC）路径规划策略，我们提出了两种自适应策略：（1）具有QoS的SIC（SICQ）：同时优化搜索，通知和监视任务，以及（2）遵循QoS的SIC（SIC +） ：首先优化搜索并共同通知任务，然后找到最佳监视位置。两种策略都会利用信息来确定无人机任务。可以调整策略以相对于其他任务优先处理某些任务。我们说明通过在路径设计中有效地整合通信，可以在给定的任务时间内执行更多任务。我们还观察到，结果路径的质量在连通性方面得到了改善。