## 3 The Proposed Method
### Negotiate for Scout Task Assignment
#### 3.1.2 Collaborative Optimization of Reconnaissance Tasks Assignment
1:\(\beta_{i}^{sc^{\prime}}\leftarrow\beta_{i}^{sc}\)
2:\(U_{i}^{sc}\leftarrow\left\{u_{m}|(u_{m},t_{n},\tau_{n}^{s},g_{n})\in\beta_{i}^ {sc}\right\}\)
3:for\(\beta_{i}^{sc}\) in \(B_{i}^{sc}\)do
4:\(\tilde{\beta}_{i}^{sc}\leftarrow\) consistent assignments between \(\beta_{m}^{sc}\) and \(\beta_{i}^{sc^{\prime}}\). \(\triangleright\) Lock the consistent part
5:\(\beta_{i}^{conflict}\leftarrow\left(\beta_{i}^{sc^{\prime}}\cup\beta_{m}^{sc }\right)-\tilde{\beta}_{i}^{sc}\)\(\triangleright\) The part of conflict assignments
6:\(U_{i}^{conflict}\leftarrow\left\{u_{m}|(u_{m},t_{n},\tau_{n}^{s},g_{n})\in \beta_{i}^{conflict}\right\}\)\(\triangleright\) Extract the UAVs in conflict part
7:\(T_{i}^{conflict}\leftarrow\left\{t_{n}|(u_{m},t_{n},\tau_{n}^{s},g_{n})\in \beta_{i}^{conflict}\right\}\)\(\triangleright\) Extract the tasks in conflict part
8:\(\beta_{i}^{sc^{\prime}}\leftarrow\) Re-optimize using Algorithm 2 with input \(\left(\tilde{\beta}_{i}^{sc},\left\langle U_{i}^{conflict},\tau_{i}^{conflict} \right\rangle\right)\)
9:\(\beta_{i}^{sc^{\prime}}\leftarrow\left\{(u_{m},t_{n},\tau_{n}^{s},g_{n})|(u_{ m},t_{n},\tau_{n}^{s},g_{n})\in\beta_{i}^{sc^{\prime}},u_{m}\in U_{i}^{sc}\right\}\)
10:endfor
11:if\(\beta_{i}^{sc}\) inconsistent with \(\beta_{i}^{sc^{\prime}}\)then\(\triangleright\) If the task assignment changes
12: Broadcast \(\beta_{i}^{sc^{\prime}}\)\(\triangleright\) Broadcast the updated plan to neighbors within \(n_{c}\) hops
13:endif
14:\(\beta_{i}^{sc}\leftarrow\beta_{i}^{sc^{\prime}}\)\(\triangleright\) Replace the local plan with the new plan
15:\(B_{i}^{sc}\leftarrow\tilde{\mathcal{O}}\)\(\triangleright\) Clear the sets of received scout plan
16:return the updated \(\beta_{i}^{sc}\)
```
**Algorithm 3** Scout plan conflict-resolving within UAV \(u_{i}\)

In Algorithm 3, the received plans are conflict resolved with the local plan one by one. For each task \(\beta_{m}^{sc}\), the consistent part between it and \(\beta_{i}^{sc^{\prime}}\) is locked, the UAVs and tasks involved in the inconsistent part are extracted, and Algorithm 2 is used for re-optimization. The reason for not merging all the plans at the same time is that the more plans received, the lower the probability of obtaining assignments containing consistent parts, which makes each iteration almost equal a full re-assignment, leading to low convergence efficiency. ### Optimization of Strike Task Allocation

Let \(T_{i}^{st}\) represent the set of targets to strike in \(u_{i}\), and the capability requirements \(a_{j}\) of each discovered target \(t_{j}\) is known; \(T_{i}^{sc}\) is the set of assigned reconnaissance tasks perceived by \(u_{i}\); \(U_{i}^{st}\) is the idle UAVs with strike capability within \(n_{c}\) hops to \(u_{i}\). Since the targets that need to be struck are discovered dynamically, the scheduling of UAVs with strike capability is not only related to the currently discovered tasks, but also related to the tasks that may be discovered in the future. When optimizing strike capability scheduling, it is necessary to take the nearby reconnaissance tasks into consideration, that is, on the basis of ensuring that the capability requirements of discovered targets can be met, the capability of deterrent reconnaissance tasks should be enhanced as much as possible. Therefore, the optimization objective of strike task allocation is defined as:

\[\min_{\beta^{st}}J\left(\beta^{st}\right) \tag{13}\]

where

\[J\left(\beta^{st}\right) =\sum_{ \begin{subarray}{c}(U_{i},t_{j},\tau_{j}^{s})\in\beta^{ st}\\ \end{subarray} }\left[\left[t_{j}\in T_{i}^{st}\right]\cdot\left(f^{us}\left(t_{j},U_{j} \right)\cdot\Xi+\alpha_{\xi}\left(t_{j},U_{j}\right)+\alpha_{\tau}\cdot\tau_{ \max}\left(t_{j},U_{j}\right)\right)\right]\] \[-\alpha_{th}\cdot\min_{ \begin{subarray}{c}(U_{i},t_{j},\tau_{j}^{ s})\in\beta^{st}\\ \end{subarray} }\left(\sum_{u_{m}\in U_{j}}\xi_{m}\right)\Bigg{/}\Bigg{(}\frac{1}{ \left|U_{j}\right|}\sum_{u_{m}\in U_{j}}\frac{d_{mj}}{v_{m}}\Bigg{)} \tag{14}\]\[f^{us}\big{(}t_{j},U_{j}\big{)} =\left\{