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

Table 1

The resource of the candidate coalition .

UAVs	Resource vector
	(2,1)^⊤
	(3,3)^⊤
	(2,2)^⊤
	(3,1)^⊤
	(2,3)^⊤