A Survey of UAV Swarm Task Allocation Based on the Perspective of Coalition Formation

Abstract

Coalition formation of unmanned aerial vehicle (UAV) swarms, an effective solution for UAV swarm task allocation, is an important technology for UAV swarms to perform real-time and efficient collaborative task allocation in a dynamic and unknown environment. This paper summarizes the task allocation methods of UAV swarm coalition comprehensively and systematically. First, starting with the related work of UAV swarm coalition task allocation, this paper introduces the basic concept, general model, and constraint index of UAV swarm coalition task allocation. Then, the specific content, research status, advantages, and disadvantages of the coalition formation methods are analyzed, respectively. Third, the commonly used solution algorithms and research status of coalition task allocation are introduced, and the advantages and disadvantages of the existing coalition formation solution algorithms are compared and analyzed. Finally, it provides significant guidance for future related research.