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

Table 1

Information of the targets.

Number	Position	Resource	Value		Level
1	(2,000, 1,700)	(4, 3, 1)	500	0.6	1
2	(2,500, 700)	(1, 2, 0)	200	0.5	1