Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment

<div>Performance comparison of different coalition formation algorithms with the increasing number of UAVs: (a) average time per task and (b) average profit per task.</div>

Mathematical Problems in Engineering

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Figure 12

Figure 12: Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment 

Figure 12 | Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment 