## 3 Task Assignment Algorithm Based on Extended CNP
### Distributed Multi-Constraint Dynamic Task Assignment Algorithm
Event triggering conditions can be described as

\[Winner_{k}=Index(B_{(1),k},\ B_{(2),k},\ \ldots,\ B_{(Np,k),k}) \tag{14}\]2

where \(h_{i}\) is the survivability of \(V_{i}\); \(h_{i,b}\) is the minimum survivability of \(V_{i}\) with normal capability and is selected according to the concrete scenario. The event-triggering process can be expressed as

\[Winner_{k}=Index(B_{(1),k},\ B_{(2),k},\ \ldots,\ B_{(Np,k),k}) \tag{14}\]3

where \(Task_{j,k}\gets TaskInfo_{i,j,k}\) is the reassignment for the subtasks that \(V_{i}\) is to perform. ### The Basic Process of Dynamic Task Assignment

Before describing the basic process of cooperative dynamic task assignment, the following assumptions are given for the scenario:

1. Based on the early situation awareness, several targets and pieces of threat information have been obtained, including target location, number of UAVs required to perform each subtask, threat location, and impact range;
2. Due to incomplete situational awareness, there are unknown targets and threats. After the UAV detects an unknown target or threat, it broadcasts the threat information, transmits the target information to the group leader, and triggers the assignment process. Based on the scenario and assumptions above, the basic process of cooperative dynamic task assignment is shown in \[Winner_{k}=Index(B_{(1),k},\ B_{(2),k},\ \ldots,\ B_{(Np,k),k}) \tag{14}\]4 The concrete steps are as follows:

1. Assign the known targets. The top leader assumes the role of the tenderee, dominates the initial assignment, and releases the target information to each group leader based on the inter-group contract network. 2. Each group leader that has direct communication with the top leader receives the target information, releases the subtask information to their followers, and determines the group's bidding scheme, which is obtained by subtasks pre-assignment based on the group's internal contract network. 3. The top leader selects the group with the largest bidding value as the bid winner according to the bidding schemes of the group submitted by the group leaders and assigns the target to the group. 4. According to the assigned target, each subset performs tasks according to the corresponding subtask assignment scheme. 5. If a UAV fails to perform tasks due to sudden failure, the tasks shall be assigned to other UAVs in this subset first, if no UAV in the subset can continue to perform, the group leader will release the tasks to other subsets, and then others will determine the pre-assignment scheme based on the contract network within the group. The tendering group shall determine the assistance according to each bidding scheme. 6. If a UAV (including the group leader) detects a sudden target, it shall be reported to the group leader. After receiving the target information, the leader of this subset will release the target to other subsets. Each subset determines the pre-assignment scheme based on the contract network within the group, carries out the bidding based on the inter-group contract network, and, finally, completes the target and subtask assignment. 7. Repeat steps 4-6 until there is no dynamic change. \[Winner_{k}=Index(B_{(1),k},\ B_{(2),k},\ \ldots,\ B_{(Np,k),k}) \tag{14}\]5 The procedure for cooperative dynamic task assignment. ## 5 Numerical Simulation

It is assumed that the swarm consists of 1 top leader and 2 subsets, with a total of 11 UAVs, including 2 reconnaissance-attack UAVs, 4 reconnaissance UAVs, and 4 attack UAVs. Among them, reconnaissance-attack UAVs are the group leaders. Consider the UAV swarm communication topology \(G_{0}\), as shown in \[Winner_{k}=Index(B_{(1),k},\ B_{(2),k},\ \ldots,\ B_{(Np,k),k}) \tag{14}\]6

Each UAV can perform no more than two subtasks, and each subtask is performed jointly by, at most, two UAVs. For flight path preplanning, the UAV kinematics model in reference [35] and the modified artificial potential field method [36; 37; 38] are used to realize the air-range estimation considering threat avoidance.