多无人机灾后救援中，实时避障显著提升安全，而遗传算法任务分配仅在无避障时提升效率。
TriSAR: Task Coordination and Collision Avoidance for Aerial Robot Teams in Disaster Response
- 分层协调：任务分配与实时避障双机制协同
- 启用避障后零碰撞，遗传算法仅在无避障时提升效率
- 适合灾害救援多机系统设计与实验验证
多无人机灾后救援系统需协同任务分配与局部轨迹控制，但两层协调在受控实验中的独立与联合贡献仍不明确。本文评估了五无人机的TriSAR系统，在基于物理的Gazebo仿真城市废墟环境中运行。采用2×2因子设计，对比两种任务分配策略（遗传算法与贪心适应度分配）与是否启用反应式避障。每种配置在包含五架无人机和八处目标的同一场景下进行30次随机实验。在贪心分配下，启用排斥力后完全消除碰撞阈值违规，经曼-惠特尼检验（U = 885, p = 4.03×10⁻¹², r = 0.97）确认。在遗传算法分配下同样有效（U = 675, p = 1.26×10⁻⁵, r = 0.50）。任务效率方面，当避障启用时，遗传算法无统计显著优势；但在避障禁用时，其在步数、路径长度与能耗上具有显著优势（Welch's t检验，|g|介于0.92至1.76之间）。结果表明，反应式排斥提供显著且依赖分配的安全收益，而遗传算法的额外计算开销仅在无避障时带来可检测的效率提升。
原文摘要 · Abstract (English)
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.
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