Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment
Algorithm 1
Task bidding.
(1)
(2)
ifthen
(3)
(4)
send to its directly connected UAV
(5)
end if
(6)
for: number of bid requests received do
(7)
predict EAP of in the moment of coalition formation
