Dynamic mission allocation for interceptions by using multiple rotary-wing UAVs

A high-level dynamic mission allocation strategy is presented for a multi-UAV system to intercept multiple intruding targets. The objective of the dynamic mission allocation is to optimize the time-efficiency of the multiple interceptions. In the dynamic mission allocation, the optimization is carried out repeatedly in discrete-time before interceptions are completed, such that the outcome of mission allocation is improved based on feedback of real-time information. The performance of the dynamic mission allocation is proved to be superior (or at least equal) to that of a previously proposed static mission allocation.