Real-time task reconfiguration support applied to an UAV-based surveillance system

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31%+O'11+Z%%B+-#"'()+-.%+%S%$3-'#(+-'A%+,#"+%0$.+-DB%+#,+-.%+

-0Z+O'-.+-.%+'(,#"A0-'#(+)0-.%"%&+PD+-.% +!"#"$%>('"2

="('+ 0*B%$- + -#)%-.%" + O'-. + -.% + &0-0 + B"#M'&%& + PD + -.%+

@+5(?1-14A(1'"(:-0 ,0B%$-F + C.%*% + B"%1'A'(0"D+

-#"%& + -'A% + O'11 + P% + 3%,31 + 0 + #(% + #, + -.% + P0' + -# + -.%+

"%$#(,')3"0-'#(+&%$''#(+&#(%+PD+-.% +!-./00+)-1"+$2

?+0:('F+

W(+#M%"M'%O+0P#3-+-.%+$"%0-%& +-"0-%)D+'+B"%*%(-%&+#(+

C0P1%+>+0(&+^F+C.%+P%.0M'#"+-.0-+$#AB#%+-.'+*-"0-%)D+0"%+

'(%"-%&+'(+-.%+$#"%+#,+-.%+D-%A+PD+-.%+0P#M%+A%(-'#(%&+0:

B%$-+0(&+-.#%+3%&+PD+-.%AE+0+B"%%(-%&+'(+%$-'#(+//F5F

TABLE I.

TASK REALLOCATION ALGORITHM

>bW@rL/I`+C/2/6T+KWCW+W5JLC+CW4p4+`s`@LC/J6m

+

^bW@rL/I`+KWCW+W5JLC+!L4+!IJ@`44/6T+eJWKm

+

;b@We@LeWC`+Cd`+ `s`@LC/J6+ !I/JI/C/`4+VJI+Wee+CW4p4E +/6@eLK/6T+6`k+

eJWK`K+J6`4E+5W4`K+J6+4C`!4+>+W6K+^m

+

?b@We@LeWC`+Cd`+ 6`k+ eJWK:5WeW6@`E +CWp/6T+/6CJ+W@@JL6C+Cd`+6`k+

!I/JI/C/`4+@We@LeWC`K+!I`f/JL4eqm

+

Gb@J2!WI`+Cd`+ 6`k+ eJWK:5WeW6@`+/6+W@@JIKW6@`+k/Cd+`rLWC/J6+ R;X +

W6KE+@J64`rL`6C/WeeqE+`rLWC/J6+R?Xm

+

<b!`IVJI2+Cd`+I`@J6V/TLIWC/J6+K`@/4/J6m

+

8b2/TIWC`+CW4p4+CJ+!`IVJI2+Cd`+I`@J6V/TLIWC/J6+kd`6+W!!e/@W5e`F

+

TABLE II.

LOAD-BALANCING MODULE ALGORITHM

>bK`C`@C+Cd`+WfW/eW5e`+!L4m

+

^b@We@LeWC`+Cd`+V/I4C+W44/T62`6C+L4/6T+`rLWC/J6+R>X+W6K+R^X+JI+W44/T6+

Wee+CW4p4+CJ+@!Lm

+

;bVJI+`W@d+6+C/2`:4C`!+KJb

+

?b `s`@LC`+CW4p+I`WeeJ@WC/J6+WeTJI/Cd2m+

Gb+ 4CJI`+2`W4LI`K+C/2`4m

+

<b`6K+VJIF

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+W

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LIf`/eeW6@`

+4

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$#('-* + #, + 0 + ,1%%- + #, + L(A0((%& + W%"'01 + f%.'$1%* + RLWf*X+

3%& + '( + 0"%0 + 3"M%'110($% + A'**'#(F + 43$. + LWf + $0( + P%+

%N3'BB%&+O'-.+&',,%"%(-+Z'(&+#,+%(#"+-.0-+$0(+P%+0BB1'%&E+

&%B%(&'()+#(+-.%+O%0-.%"+$#(&'-'#(*E+-'A%+#,+-.%+&0D+0(&+

(5)

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0"%0+0(&+B"#M'&%+"%N3'"%&+&0-0+0$$#"&'()+-#+-.%+A'**'#(+&':

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(6)

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TABLE III.

ESTIMATION COSTSFOR TASKS GROUPS

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