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

Table 2

Initial moment information of the UAVs.

Number	Position	Heading angle	Resource	Turning radius	Value
1	(0, 0)	5	(2, 1, 2)	50	100
2	(200, 500)	4	(1, 0, 0)	50	100
3	(1,000, 1,000)	5	(3, 2, 1)	100	300
4	(200, 1,500)	0	(2, 2, 0)	100	300
5	(300, 2,000)	335	(1, 1, 0)	50	200
6	(400, 2,500)	40	(2, 1, 0)	50	200