Efficient Resource Allocation for Decentralized Heterogeneous System Using Density Estimation Approach

This paper focuses on enhancing the mission duration by deploying secondary agents to coordinate with the primary agents to accomplish the mission with a minimal interruption. The interruption considered here is due to limited fuel carrying capability of primary agents. In this study, primary and secondary agents refer to unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), respectively. Conventionally, UAVs are refueled with the fixed main charging stations which lead to interruption during the ongoing mission. In this work, we propose two-stage density estimation approach for efficiently distributing the swarm of UGVs to act as mobile refueling stations for UAVs. In the first stage, the optimal number of UGVs and their initial placement are computed. In the final stage, the UGVs minimize the average distance for the nearest UAVs to refuel. The performance of the proposed method is compared with the state of the art. The numerical simulation shows a better performance with the distributed UGVs than the state of the art.