Solving the Problem of Coordination and Control of Multiple UAVs by Using the Column Generation Method

  • Duc Manh NguyenEmail author
  • Frédéric Dambreville
  • Abdelmalek Toumi
  • Jean-Christophe Cexus
  • Ali Khenchaf
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 991)


In this paper, we consider the problem of autonomous task allocation and trajectory planning for a set of UAVs. This is a bi-level problem: the upper-level is a task assignment problem, subjected to UAV capability constraints; the lower-level constructs the detailed trajectory of UAVs, subjected to dynamics, avoidance and dependency constraints. Although the entire problem can be formulated as a mixed-integer linear program (MILP), and thus it can be solved by available software, the computational time increases intensively. For solving more efficiently this problem we propose an efficient approach based on the column generation method in which the modified dependency constraint will be added into the sub-problem. The performance of our approach is evaluated by comparing with solution given by the CPLEX on different scenarios.


Unmanned aerial vehicle Task allocation Trajectory design Column generation Mixed integer linear programming 



The authors would like to thank the DGA (Direction Générale de l’Armement) for the support to this research.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Duc Manh Nguyen
    • 1
    Email author
  • Frédéric Dambreville
    • 2
  • Abdelmalek Toumi
    • 2
  • Jean-Christophe Cexus
    • 2
  • Ali Khenchaf
    • 2
  1. 1.Hanoi National University of EducationHanoiVietnam
  2. 2.Lab-STICC UMR CNRS 6285, ENSTA BretagneBrest Cedex 9France

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