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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">UAV swarm scale</td><td class="align_center">6</td><td class="align_center">7</td><td class="align_center">8</td><td class="align_center">9</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">Number of S-UAV</td><td class="align_center">2</td><td class="align_center">2</td><td class="align_center">2</td><td class="align_center">2</td></tr><tr><td class="align_left">Number of A-UAV</td><td class="align_center">4</td><td class="align_center">5</td><td class="align_center">6</td><td class="align_center">7</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>S-UAV and A-UAV quantity ratio information.</div>

Complexity

tab4

Table 4

Table 4: Modeling and Solving the Dynamic Task Allocation Problem of Heterogeneous UAV Swarm in Unknown Environment 