A Multi-Drone Task Allocation Algorithm for Large-Scale 3D Reconstruction

Unmanned Aerial Vehicles (UAVs) are widely used for urban image capture and large-scale 3D model reconstruction due to their cost-effectiveness and versatility. However, multi-UAV operations are limited by communication and battery constraints when covering large-scale areas. To mitigate these challenges, a common approach is to divide the target area into sub-regions and use multiple UAVs to process each sub-region sequentially. Nevertheless, achieving an equitable distribution of tasks among UAVs within these sub-regions is highly complex. To address this, we propose a well-designed heuristic-based algorithm that optimizes the allocation of predefined viewpoints across UAVs, ensuring efficient traversal and balanced workload distribution. Extensive experiments demonstrate the effectiveness of our proposed algorithm in achieving efficient and equitable task distribution.