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...priority dispatching of urgent missions, assigning shared resources so as to avoid blocking phenomena. FD and uD are formulated based on Fr. See Tacconi and Lewis. 22 and Lewis et al.23 k in equation =-=(1)-=- is the loop iteration.5 and4 denote the AND/OR multiplication and addition, respectively. The operator precedence is applied such that5 should be performed before 4 in a given mathematical expression...

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...nce in spite of resource failures. Online addition or deletion of missions may be programmed into the teams. As missions change or are added, Fv, Fr, Fu, etc., are easily reconfigured using equations =-=(9)-=- and (10). For example a new surveillance task can be added online during the operation of the illustrative mission given earlier. The RDEC will assign the new task to the UAV once it triggers the com...

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... F̂ i u ûi s M i= 1 F̂ i D uD 0 = M i= 1 F̂ i v v̂ic F̂ i r rc 0 F̂iu ûi F̂ j D uD 0 ð11Þ where subscript k is dropped for brevity. Decomposing equations (2)–=-=(4)-=- in the same manner gives M i= 1 v̂is= M i= 1 Ŝ i v x̂i, ð12Þ rs 0 T= M i= 1 Ŝ i r x̂i, ð13Þ M i= 1 ŷi= M i= 1 Ŝ i y x̂i ð14Þ respectively. It can be seen that the RDEC logical stat...

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...i= 1 F̂ i u ûi s M i= 1 F̂ i D uD 0 = M i= 1 F̂ i v v̂ic F̂ i r rc 0 F̂iu ûi F̂ j D uD 0 ð11Þ where subscript k is dropped for brevity. Decomposing equations =-=(2)-=-–(4) in the same manner gives M i= 1 v̂is= M i= 1 Ŝ i v x̂i, ð12Þ rs 0 T= M i= 1 Ŝ i r x̂i, ð13Þ M i= 1 ŷi= M i= 1 Ŝ i y x̂i ð14Þ respectively. It can be seen that the RDEC logical ...

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...le individual resources can be added or removed in an ad hoc manner. It is assumed herein that a task will be labelled as incomplete if its resource is removed during processing. Decomposing equation =-=(13)-=- in the same manner gives P j= 1 ~rjs= P j= 1 M i= 1 ~S ij r x̂i sð18Þ In summary, the proposed RDEC has the following logical state equation M i= 1 x̂i= M i= 1 F̂ i v v̂ic P j= 1 ~F ij...

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...0 0 2 666664 3 777775,Sr = S1r SMr 0 0 0 " # , Sy = S1y 0 . . . .. . .. . SMy 0 0 2 666664 3 777775 ð8Þ where 0 denotes a null matrix of compatible dimensions. Equations =-=(7)-=- and (8) differ slightly from the programming of multiple missions in Pang et al.,17 where the last rows and columns of the matrices are prescribed memory spaces on the computing software platform for...

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...d state equation maps the linguistic IF–THEN rules as x(k+ 1)=Fv vc(k) Fr rc(k) Fu u(k) FD uD(k) ð1Þ 418 Simulation: Transactions of the Society for Modeling and Simulation International 91=-=(5)-=-sat PENNSYLVANIA STATE UNIV on May 8, 2016sim.sagepub.comDownloaded fromswhere vc is the task completion vector having element vcj = 1 if Task vj is completed, and v c j = 0 otherwise. rc is the resou...

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...0 2 666664 3 777775,Sr = S1r SMr 0 0 0 " # , Sy = S1y 0 . . . .. . .. . SMy 0 0 2 666664 3 777775 ð8Þ where 0 denotes a null matrix of compatible dimensions. Equations (7) and =-=(8)-=- differ slightly from the programming of multiple missions in Pang et al.,17 where the last rows and columns of the matrices are prescribed memory spaces on the computing software platform for inserti...

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...pite of resource failures. Online addition or deletion of missions may be programmed into the teams. As missions change or are added, Fv, Fr, Fu, etc., are easily reconfigured using equations (9) and =-=(10)-=-. For example a new surveillance task can be added online during the operation of the illustrative mission given earlier. The RDEC will assign the new task to the UAV once it triggers the completion o...

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... T , ~ujD= 0 ujD 0 T , ~rjs= 0 rjs 0 T Pang and Mathew 421sat PENNSYLVANIA STATE UNIV on May 8, 2016sim.sagepub.comDownloaded fromsFrom Lemma 3 and Theorem 1, equation =-=(11)-=- is equivalent to M i= 1 x̂i= M i= 1 F̂ i v v̂ic P j= 1 ~F ij r P j= 1 ~rjc F̂iu ûi P j= 1 ~F ij D P j= 1 ~ujD = M i= 1 F̂ i v v̂ic P j= 1 ~F ij r ~rjc ...