Cooperative Evolution Mechanism of Unmanned Swarm within the Framework of Public Goods Game

Table 1

Mapping between the concepts of cooperative evolution and multiplayer public goods game.

Cooperative evolution in unmanned swarms	Multiplayer public goods evolutionary game
Unmanned swarms	Mixed homogeneous population
Public operational resources (communication, firepower, etc.)	Public goods
Multiple unmanned units participating in autonomous collaboration	Multiplayer
Single combat unit	Individuals
Single combat unit as research object	Focal individual
Investors (collaborators)	Strategy A
Hitchhikers (betrayers)	Strategy B
Total resources that individuals ultimately obtain after each round of game	Payoffs
Payoff-based strategy transformation between units	Game
Dynamic change of proportion of units with different strategies in multiround game	Evolutionary
The proportion is stable and the game ends after multiround game	Evolutionary stable state