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

Table 6

Performance comparison of the four algorithms.

	Two-stage	Zero-one integer programming	Resource tree	Resource welfare
Coalition members
Mission time (s)	20.42	20.42	20.42	34.23
Energy consumption  J	2.2142	1.7369	1.736	1.7849
Mission planning time (s)	0.13	0.43	0.18	0.15