{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T23:47:52Z","timestamp":1782517672256,"version":"3.54.5"},"reference-count":29,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2020,4,17]],"date-time":"2020-04-17T00:00:00Z","timestamp":1587081600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To solve the real-time complex mission-planning problem for Multiple heterogeneous Unmanned Aerial Vehicles (UAVs) in the dynamic environments, this paper addresses a new approach by effectively adapting the Consensus-Based Bundle Algorithms (CBBA) under the constraints of task timing, limited UAV resources, diverse types of tasks, dynamic addition of tasks, and real-time requirements. We introduce the dynamic task generation mechanism, which satisfied the task timing constraints. The tasks that require the cooperation of multiple UAVs are simplified into multiple sub-tasks to perform by a single UAV independently. We also introduce the asynchronous task allocation mechanism. This mechanism reduces the computational complexity of the algorithm and the communication time between UAVs. The partial task redistribution mechanism has been adopted for achieving the dynamic task allocation. The real-time performance of the algorithm is assured on the premise of optimal results. The feasibility and real-time performance of the algorithm are validated by conducting dynamic simulation experiments.<\/jats:p>","DOI":"10.3390\/s20082307","type":"journal-article","created":{"date-parts":[[2020,4,21]],"date-time":"2020-04-21T04:49:38Z","timestamp":1587444578000},"page":"2307","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":56,"title":["UAV Swarm Mission Planning in Dynamic Environment Using Consensus-Based Bundle Algorithm"],"prefix":"10.3390","volume":"20","author":[{"given":"Yaozhong","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710129, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wencheng","family":"Feng","sequence":"additional","affiliation":[{"name":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710129, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guoqing","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710129, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Frank","family":"Jiang","sequence":"additional","affiliation":[{"name":"Center for Cyber Security Research and Innovation (CSRI), Deakin University, Geelong 3220, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Morshed","family":"Chowdhury","sequence":"additional","affiliation":[{"name":"Center for Cyber Security Research and Innovation (CSRI), Deakin University, Geelong 3220, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0849-5098","authenticated-orcid":false,"given":"Sai Ho","family":"Ling","sequence":"additional","affiliation":[{"name":"Centre for Health Technologies, School of Biomedical Engineering, University of Technology, Sydney 2007, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,4,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1109\/71.207593","article-title":"A compile-time scheduling heuristic for interconnection-constrained heterogeneous processor architectures","volume":"4","author":"Sih","year":"1993","journal-title":"IEEE Trans. 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