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 information transformation times with an increasing number of UAVs. Performance of different resource consumption allocation methods: (a) average number of tasks and (b) average profit per task.</div>

Mathematical Problems in Engineering

fig13

Figure 13

Figure 13: Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment 

Figure 13 | Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment 