Bottom-Up Mechanism and Improved Contract Net Protocol for Dynamic Task Planning of Heterogeneous Earth Observation Resources
针对灾害救援中对地观测任务因天气、故障等突发因素需动态重规划的问题，提出一种自底向上的分布式协调框架和改进合同网协议，通过多轮组合分配和浮时间隔局部搜索算法，在保证时间效率的同时提高大规模任务完成率。
Earth observation resources are becoming increasingly indispensable in disaster relief, damage assessment, and other related domains. Many unpredictable factors, such as changes in observation task requirements, bad weather, and resource malfunctions, may cause the scheduled observation scheme to become infeasible. In these cases, it is crucial to promptly reformulate high-quality observation schemes while exerting minimal negative effects on the previously scheduled tasks. Accordingly, in this study, a bottom-up distributed coordination framework together with an improved contract net is proposed, aiming to facilitate dynamic task replanning for heterogeneous Earth observation resources. This hierarchical framework consists of three levels: 1) neighboring resource coordination; 2) single planning center coordination; and 3) multiple planning center coordination. The observation tasks affected by unpredicted factors are managed along with a bottom-up route from resources to planning centers. This bottom-up distributed coordination framework transfers part of the computing load to various nodes of the observation systems to plan tasks more efficiently and robustly. To support the prompt replanning of multiple tasks to proper Earth observation resources in dynamic environments, we propose a multiround combinatorial allocation (MCA) method. Moreover, a new float interval-based local search algorithm is proposed to quickly obtain a promising replanning scheme. The simulation results demonstrate that the MCA method can achieve a better task completion rate for large-scale tasks with satisfactory time efficiency. In addition, this method can efficiently obtain replanning schemes based on original schemes in dynamic environments.