By I M Stancu-Minasian
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Extra resources for A sixth bibliography of fractional programming
L. Cummings et al. Fig. 13. Operational Demands vs. Human Limitations in Mission Planning model with wait times, especially beyond 5 UAVs. Interestingly, as in the case with 5 targets, the minimum cost occurs at 2 UAVs for 10 targets. However, in the case of 5 targets, only 2 UAVs were needed to meet the operational requirements and the operator could meet this demand. , the wait times incurred by controlling more vehicles became unacceptably high. Thus, at the inﬂection point in these curves, the left region is primarily constrained by operational demands, but the right region is dominated by human performance limitations, speciﬁcally wait times, as seen in Figure 13.
The ith UAV cannot see the shaded region which the j th UAV can see. Depending on the number of targets present in that shaded region, the behaviour of the j th UAV will vary. To estimate the number of targets that might be there, we assume that the targets are uniformly distributed. We take into consideration the combined eﬀect of all these target, which we assume to be placed at a point p, equidistant from point (a, b). This combined target is called the virtual target for the k th UAV. The beneﬁt that the k th UAV gets for attacking this virtual target kˆ is Ckkˆ = (average value of target)nk wr − Skkˆ (13) where, nk is the number of targets that can be present in the shaded region.
Recently, market based approaches have shown a considerable increase in performance for task allocation strategies to multiple agent applications. Dias and Stenz [17, 18] introduce a novel approach for coordinating robots based on the free market architecture in economics. The approach deﬁnes revenues and cost functions across the possible plans for executing a speciﬁed task. The task is accomplished by decomposing it into sub-tasks and allowing the robots to bid and negotiate to carry out these sub-tasks.
A sixth bibliography of fractional programming by I M Stancu-Minasian