Distributed Task Allocation & Coordination Technique of Multiple UCAVs for Cooperative Tasks
面向协同任务的多UCAV分布式任务分配与协调技术

The task allocation and task coordination problem for multiple unmanned combat aerial vehicles(UCAVs) distributed control is studied.Firstly,the contract net is expanded to resolve task allocation during task execution process. Thus UCAVs can deal with the temporal constraints among tasks when participating in auction and bid.Then,partial global planning is improved to coordinate the task plans of the UCAVs that perform correlative tasks.The two types of negotiation mechanisms are modeled with Petri nets,and the correctness of the negotiation process and the feasibility of the negotiation result are analyzed.Simulation results demonstrate the validity of our approaches.