发表机构
School of Science and Technology, Nottingham Trent University（诺丁汉特伦特大学科学技术学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出TriSAR协调系统，通过Gazebo仿真评估发现，反应式斥力可提升空中机器人团队的避撞安全，遗传算法分配仅在禁用斥力时提升任务效率。
AI 中文摘要
多无人机（UAV）灾害响应系统需要协调的任务分配与局部轨迹控制，但在受控实验条件下，这些协调层对任务效率和运行安全的个体及联合贡献仍未得到充分表征。TriSAR作为五架无人机的协调系统，在基于物理的Gazebo仿真平台中，针对地震损毁的城市环境开展评估。采用2×2因子设计，对比两种任务分配策略（遗传算法（Genetic Algorithm）与基于适应度的贪心分配），以及启用或禁用反应式避障的情况。在包含五架无人机和八个目标的共同场景中，每种配置均经过30次随机回合评估。在贪心分配下，启用斥力消除了记录的碰撞阈值违规，经Mann-Whitney检验确认（U=885，p=4.03×10^-12，秩双列相关系数r=0.97）；在遗传算法分配下，相同的保护效果也得到确认（U=675，p=1.26×10^-5，秩双列相关系数r=0.50）。对于任务效率指标，当启用斥力时，基于遗传算法的分配未显示出统计学上可检测的优势；但当禁用斥力时，其在步数、路径长度和能耗方面表现出显著优势（Welch t检验，|g|在0.92至1.76之间）。这些结果表明，反应式斥力提供了显著的、依赖于分配策略的安全效益，而基于遗传算法的任务分配的额外计算复杂度仅在斥力禁用时，才会产生可检测的任务效率效益。
英文摘要
Multi-Unmanned Aerial Vehicle (UAV) disaster-response systems require coordinated task assignment and local trajectory control, yet the individual and combined contributions of these coordination layers to mission efficiency and operational safety remain insufficiently characterised under controlled experimental conditions. TriSAR is evaluated as a five-UAV coordination system operating in a physics-based Gazebo simulation of an earthquake-damaged urban environment. A 2 x 2 factorial design compares two task-allocation strategies (Genetic Algorithm and greedy fitness-based allocation) with reactive collision avoidance enabled or disabled. Each of the four configurations was evaluated over 30 stochastic episodes in a common scenario of five UAVs and eight targets. Under greedy allocation, enabling repulsion eliminated recorded collision-threshold violations, confirmed by a Mann-Whitney test (U = 885, p = 4.03 x 10^-12, rank-biserial r = 0.97). Under GA allocation, the same protective effect was confirmed (U = 675, p = 1.26 x 10^-5, rank-biserial r = 0.50). For mission-efficiency metrics, GA-based allocation showed no statistically detectable advantage over greedy allocation when repulsion was enabled, but a significant advantage in steps, path length, and energy when repulsion was disabled (Welch's t-tests, |g| between 0.92 and 1.76). These results show that reactive repulsion provides a substantial, allocation-dependent safety benefit, while the additional computational complexity of GA-based task allocation yields a detectable mission-efficiency benefit only when repulsion is disabled.
Comments7 pages, 5 figures
