FlockDiffusion: Assignment-Conditioned Diffusion for Multi-Drone Task Allocation and Completion

2026-09-20

AI Summary

为解决多无人机任务分配与完成问题，提出FlockDiffusion框架，结合场景图编码、任务分配和轨迹生成，实现高效协调与路径优化。

Abstract

Autonomous multi-drone navigation requires fleets to service distributed objectives in cluttered environments under tight computational budgets. Efficient coordination depends on task bundling, where each drone visits multiple objectives along its route. Separate solvers for cost estimation, assignment, and execution incur redundant graph search and produce long, abrupt paths. We propose FlockDiffusion, a learned framework combining a scene graph encoder, an explicit allocation head, an assignment conditioned diffusion transformer, and a closed form trajectory decoder. An autoregressive teacher provides offline supervision for parallel fleet trajectory generation. PyBullet ablations show that bundling increases task completion from 50% to 100%, while our complete teacher further reduces route cost by 8.4% relative to MAGNNET with bundling. In the optimized scalability benchmark, evaluated on 100 scenes per density with ten drones, FlockDiffusion achieves 6.2 to 7.6 times faster inference and approximately 37% shorter routes than the classical pipeline. As nominal task counts increase from 20 to 40, latency rises from 7.8 to 11.1 ms, compared with 48.0 to 75.8 ms for the baseline. In a separate evaluation across five Gazebo environments, FlockDiffusion achieves 100% planner coverage and reduces planned route cost by 15.4% relative to the baseline with bundling. These results demonstrate efficient planning under increasing task density in configurations that are demanding to reproduce with physical drone fleets.

Problem

• multi-drone
• task allocation
• navigation
• cluttered environments
• computational budgets

Innovation

• FlockDiffusion
• Assignment-Conditioned Diffusion
• Multi-Drone Task Allocation
• Scene Graph Encoder
• Diffusion Transformer