UAVs cooperative air-to-ground associated task assignment algorithm based on Multi-Agent and Contract Net Protocol

Aiming at the problem of dynamic assignment of UAVs cooperative air-to-ground attacks based on associated tasks and fault mechanisms, an MA-based task executor and task publisher model was established, and an assignment method of UAVs cooperative air-to-ground associated task based on MA-Contract Net Protocol was proposed. The simulation shows that this method can generate more reasonable assignment results for a variety of complex associated tasks and UAV fault situations, reduce the execution cost of associated tasks, avoid the lack of task execution caused by UAV faults, and improve the task set completion degree and efficiency.