Distributed Grouping Cooperative Dynamic Task Assignment Method of UAV Swarm

Aiming at the problem of UAV swarms with distributed subsets performing cooperative reconnaissance-and-attack tasks on multi-targets in complex and uncertain combat scenarios, a grouping dynamic task assignment method is proposed based extended contract network protocol. The model for swarm topology established considering multiple constraints such as cooperation, sequence, environment, communication topology, payload model, capability. According to characteristics multi-participants multi-tasks process executing tasks, determination mechanism cooperators selection sequential are proposed, then protocol extended. On basis above, an event-triggered strategy designed. simulated results show that can achieve perform improve adaptiveness under sudden circumstance, realize optimization execution efficiency swarm.