EFGB MATLAB Simulator v1.0.0

Initial research software release | MATLAB R2024a

This release provides the MATLAB implementation of Energy-Feasibility-Guaranteed Bidding (EFGB) for decentralized task allocation among heterogeneous UAVs under battery constraints and lossy communication.

Associated manuscript: EFGB: Team-Independent Round-Trip Energy Admission for Decentralized Multi-UAV Rescue Allocation under Lossy Communication (submitted to Robotics and Autonomous Systems).

Features

• Team-independent round-trip energy admission with capacity-bounded workload charges.
• Capacity-proportional workload sharing and reserve-aware mission admission.
• Gilbert–Elliott communication modeling with lossy awards and acknowledgments.
• Comparative policies including outbound-only admission, reactive safety override, SGA, the earlier conference auction, and CBBA.
• SGA + EFGB and CBBA + EFGB for separating allocation-protocol effects from the safety admission rule.
• Experiments covering ablations, docking-order validation, communication degradation, energy-model mismatch, deadlines, and robustness.
• Physics-based and flight-data-derived energy-error evaluation.

Repository structure

| Directory | Contents | | --- | --- | | harness/ | Main simulator, policies, campaign drivers, analysis functions | | figures/ | MATLAB figure-generation programs | | tests/ | Docking-order and CBBA verification programs | | examples/ | Reduced single-run demonstration | | data/ | Derived flight-energy data and summary | | docs/ | Reproducibility instructions, assumptions, and data provenance |

Requirements

• MATLAB R2024a
• Statistics and Machine Learning Toolbox for selected analyses
• Parallel Computing Toolbox (optional)

Quick start

From the repository root in MATLAB R2024a:

addpath(fullfile(pwd, 'harness'));

addpath(fullfile(pwd, 'tests'));

run(fullfile('examples', 'single_run.m'));

Run the included checks:

run(fullfile('tests', 'run_tests.m'));

For complete experiment instructions, see README.md and docs/REPRODUCIBILITY.md. The demonstration uses reduced settings and is not a reproduction of the published tables.

Scope and reproducibility

The analytical reserve guarantee depends on the assumptions stated in the associated manuscript. The simulator charges on-scene service energy at arrival without imposing the entire corresponding elapsed service duration. Large Monte Carlo results are prepared separately for research-data archiving.

Citation and license

See CITATION.cff for citation metadata and LICENSE for the software license. Users of the research methods should also cite the associated article when available.

Version

v1.0.0 — Initial public source release.

Full changelog: https://github.com/arefinsarker068/EFGB-MultiUAV-Rescue/commits/v1.0.0