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

<div>Residual resources of UAVs over task under three algorithms: (a) balanced algorithm, (b) greedy algorithm, and (c) Gini-coefficient-based algorithm.</div>

Mathematical Problems in Engineering

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Figure 16

Figure 16: Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment 

Figure 16 | Mathematical Problems in Engineering Improved CNP-Method-Based Local Real-Time Cooperative Task Allocation of Heterogeneous Multi-UAV in Communication-Constrained Environment 