Task Allocation Algorithm for the Cooperating Group of Light Autonomous Unmanned Aerial Vehicles*

In this paper a task allocation problem for multi-UAV systems was considered. The possibility of applying a consensus approach to organize a distribution of tasks in an autonomous group of small Unmanned Aerial Vehicles (UAVs) is studied. The use of several small UAVs with autonomous distribution of tasks gives a significant advantage over the use of a single UAV. The well-known consensus protocol — local voting protocol is suggested to solve this problem. To provide the communication in the network multi-agent technologies are used.