TY  - JOUR
T1  - Task Allocation Scheme for Unmanned Systems Using Density-Based Clustering in Tactical Mission Environments
AU  - Lee, Jongkwan 
AU  - Lee, Minwoo 
JO  - The Journal of Korean Institute of Communications and Information Sciences
PY  - 2025
DA  - 2025/1/1
DO  - 10.7840/kics.2025.50.9.1447
KW  - task allocation
KW  - clustering
KW  - unmanned systems
KW  - tactical environment
AB  - In this paper, we propose a scheme for efficiently assigning mission points to unmanned systems in a tactical environment where multiple unmanned systems are required to traverse a large number of differently distributed mission points. The proposed scheme consists of three steps. In step 1, the mission points are clustered based on density. In step 2, the number of clusters formed in step 1 and the number of available UAVs are considered to split or consolidate the clusters. In step 3, consolidate mission points that were treated as noise during density-based clustering into neighboring clusters. By clustering the mission points in stages, it improves the mobility efficiency of the unmanned systems and avoids the concentration of missions on specific unmanned system through the cluster splitting and consolidation process. Through experiments under various mission point placement conditions, it is verified that the proposed scheme not only reduces the total travel time of unmanned systems compared to the k-means clustering-based mission assignment method, but also enables balanced mission assignment to avoid the concentration of mission points on a particular unmanned system in terms of travel time.