Real-Time Task Allocation of Heterogeneous Unmanned Aerial Vehicles for Search and Prosecute Mission

Algorithm 1

The two-stage coalition formation algorithm.

Input: potential coalition members and their earliest arrival time

Output: coalition

1: Initialize:

2: Sort the set in ascending order according to arrival time .

3: = sort

4: and

5: for = 1 to do

6:  

7:  Append to

8:  

9:  if, then

10:   break

11:  else

12:   continue

13:  end if

14: end for

15: if, then

16:  Select the last member from as the root of the tree, denote as

17:  

18:  

19:  whiledo

20:  

21:   Select a member from except for the current node and its parent, all grandparents, and left brother nodes, and add it to the tree, denote as

22:    is 's parent node

23:   

24:   

25:  end while

26:  

27:  Append current node, its parent node, and all grandparent nodes to

28:  return

29: else

30:  return No feasible coalition

31: end if