Resumen
Task allocation is an essential element for determining the capability of multi-UAV systems to perform various tasks. This paper presents a procedure called a ?rebalancing algorithm? for generating task-performing routes in heterogeneous multi-UAV systems. The algorithm adopts a greedy-based heuristic approach to find solutions efficiently in dynamically changing environments. A novel variable named ?loitering? is introduced to satisfy temporal constraints, resulting in improved performance compared to heuristic algorithms: a sequential greedy algorithm, a genetic algorithm, and simulated annealing. The rebalancing algorithm is divided into two phases to minimize the makespan, i.e., the initial allocation and reallocation phases. Simulation results demonstrate the proposed algorithm?s effectiveness in highly constrained conditions and its suitability for heterogeneous systems. Additionally, the results show a reduction in calculation time and improved performance compared to the heuristic algorithms.