Modeling and Solving the Dynamic Task Allocation Problem of Heterogeneous UAV Swarm in Unknown Environment

Table 1

Symbolic description.

Type	Symbol	Significance
Attribute symbol of UAV	IDU	Identification number of UAV
	LocU	Position coordinates of UAV
	Ru	Attack resources carried of UAV
	SU	Maximum driving range of UAV
Attribute symbol of the target	IDT	Identification number of the target
	LocT	Location coordinates of the target
	ωT	Value of attack target
	RT	Required attack resources