Event-MILP-Based Task Allocation for Heterogeneous Robotic Sensor Network for Thermosolar Plants

In this paper, an event-Mixed Integer Linear Programming (MILP)-based algorithm is proposed to solve the task allocation problem in a Robotic Sensor Network (RSN). A fleet of two types vehicles considered, giving, as result, heterogeneous configuration network, since each type vehicle has nominal velocity and set allowed paths go. The can be applied distributed estimation solar irradiance on parabolic trough thermosolar power plant which used increase global efficiency plant. simulation environment been built test algorithm, taking into account behavior structure compared with traditional methods such Optimal Assignment Problem (OAP) using indexes that have defined purpose.