Communication-constrained multi-UAV task allocation method for non-independent tasks

• Heterogeneous UAVs task allocation problem integrating non-independent tasks, pop-up tasks and communication constraints are modeled. • A novel market-based task allocation method, the NI-MTA is proposed for the heterogeneous UAVs task allocation problem. • This method can also solve the dynamic task allocation of multi-UAV with inconsistent situation awareness under communication constraints. Heterogeneous multi-UAV system can effectively collaborate to execute complex tasks through complementary capabilities. Rational and efficient task allocation strategies can significantly enhance the overall performance of multi-UAV system. This paper addresses the task allocation problem for heterogeneous unmanned aerial vehicles (UAVs) with non-independent tasks and communication constraints. We propose the Non-Independent Task Market-based Task Allocation (NI-MTA) method to tackle this challenge. First, we model the problem by incorporating non-independent tasks, pop up tasks, and communication limitations, reflecting real-world UAV coordination complexities. Second, we develop the NI-MTA method, which integrates a coalition formation algorithm into a market-based framework to enable dynamic task allocation with inconsistent situation awareness under communication constraints. Experimental results demonstrate that NI-MTA improves system performance compared to traditional market-based approaches, effectively handling task dependencies and limited communication. This work advances UAV coordination by providing a scalable and adaptive solution for complex mission scenarios.