This paper addresses the problem of restricted airspace protection from invaders using the cooperative multi-UAV system. The objective is to detect and capture the invaders cooperatively by a team of homogeneous UAVs (called evaders)before invaders enter the restricted airspace. The problem of restricted airspace protection problem is formulated as a Multi-UAV Spatio-Temporal Multi-Task Allocation problem and is referred as MUST-MTA. The MUST-MTA problem is solved using a modified consensus-based bundled auction method. Here, the spatial and time constraints are handled by combining both spatial and temporal loss component. The solution identifies the sequence of spatial locations to be reached by the evader at specific time instants to neutralize the invaders. The performance of MUST-MTA with the consensus approach is evaluated in a simulated environment. The Monte-Carlo simulation results clearly indicate the efficacy of the proposed approach in restricted airspace protection against intruders

中文翻译：

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使用多无人机时空多任务分配的受限空域保护

本文讨论了使用协作式多无人机系统对入侵者进行空域保护的限制问题。目的是在入侵者进入受限空域之前，由一组同构的无人机（称为逃避者）合作检测和捕获入侵者。空域保护受限问题被表述为多无人机时空多任务分配问题，被称为MUST-MTA。使用改良的基于共识的捆绑拍卖方法可以解决MUST-MTA问题。在此，空间和时间约束是通过组合空间和时间损失分量来处理的。该解决方案确定了逃避者在特定时刻要到达的空间位置的顺序，以中和入侵者。在共识环境下，采用共识方法对MUST-MTA的性能进行了评估。蒙特卡洛模拟结果清楚地表明了该方法在限制空域防御入侵者方面的功效