## 3 The Proposed Method
### Negotiate for Scout Task Assignment
#### 3.1.2 Collaborative Optimization of Reconnaissance Tasks Assignment
\begin{array}{cc}0,&\mathbf{a}_{j}\leqslant\sum\limits_{u_{m} \in U_{j}}\xi_{m}\\ 1,&else\end{array} \right. \tag{15}\] \[\Delta_{\zeta}\big{(}t_{j},U_{j}\big{)} =\sum\limits_{c\in\mathbb{C}}\left(-\mathbf{a}_{jc}+\sum\limits_{u_{m }\in U_{j}}\xi_{mc}\right)\] (16) \[\tau_{\max}\big{(}t_{j},U_{j}\big{)} =\max\limits_{u_{m}\in U_{j}}\big{(}d_{mj}/v_{m}\big{)} \tag{17}\]

\(\beta^{st}\) is the strike plan that composed of the strike capability assignment triplet \(\big{(}U_{j},t_{j},\tau_{j}^{st}\big{)}\), and the triplet indicates that the set of UAVs \(U_{j}\) need to arrive and strike \(t_{j}\) at time \(\tau_{j}^{st}\), \(f^{us}\big{(}t_{j},U_{j}\big{)}\) is used to judge whether the capability requirements of task \(t_{j}\) can be met by the strike plan, and if not, a large constant \(\Xi\) will be added to the objective function to make the algorithm give priority to met the capability requirements of \(t_{j}\). \(\Delta_{\zeta}(t_{j},U_{j})\) represent the redundancy value of the strike capability assigned to \(t_{j}\), and \(\tau_{\max}(t_{j},U_{j})\) is the latest arrival time of the strike capability assigned to \(t_{j}\), and these two are minimized by the algorithm on the basis of meeting the capability requirements. \(\alpha_{c}\) and \(\alpha_{\tau}\) are weight coefficients. The part weighted by \(\alpha_{th}\) is expected to maximize the minimum deterrent degree of reconnaissance tasks. When a UAV discovers the target during reconnaissance, it triggers Algorithm 4 for strike task allocation, which uses GA to minimize the objective function Equation (13). After optimization, the number of strike loads required for each UAV is calculated in detail, and the invitations are send to the UAVs participating in the strike of the target that discovered by \(u_{i}\) in the plan. ```
0:\(n_{st}\): Strike UAV invitation hops \(U^{\
eg st}\): The exclude set of strike UAVs \(t_{ui}\): The target that discovered by \(u_{i}\) \(T_{i}^{st}\): The set of strike targets discovered by other nodes and to be assigned \(T_{i}^{sc}\): The set of assigned scout tasks perceived by \(u_{i}\)
```
0: Strike plan or the result that failed
1:\(U_{i}^{lit}\leftarrow\) Idle strike UAVs within \(n_{st}\) to \(u_{i}\), and not in \(U^{\
eg st}\)
2:\(T_{i}^{union}\gets T_{i}^{st}\cup T_{i}^{sc}\cup\{t_{ui}\}\)\(\triangleright\) Taking strike and scout tasks into consideration
3:\(\beta^{st}\leftarrow\) Using GA to optimize the assignment of \(U_{i}^{lit}\) to \(T_{i}^{union}\) with the goal of Equation (13)
4:\(\big{(}U_{ui},t_{ui},\tau_{ui}^{st}\big{)}\leftarrow(U_{ui},t_{ui},\tau_{ui}^{ st})\in\beta^{st}\)\(\triangleright\) Extract the assignment for \(t_{ui}\) in \(\beta^{st}\)
5:if meets the capacity requirements of \(t_{ui}\)then
6:\(U_{ui}\leftarrow\) Sort \(U_{ui}\) in ascending according to the distances between UAVs and \(t_{ui}\)
7:for\(u_{m}\) in \(U_{ui}\)do\(\triangleright\) Calculate the loads that each UAV will contribute in detail
8: Occupy strike load of \(u_{m}\) one by one until \(t_{ui}\) is satisfied or all loads are occupied
9:endfor
10: Recalculate the strike time \(\tau_{ui}^{st}\) as the latest arrival time of the occupied UAVs
11: Send invitation to \(u_{m}\in U_{ui}\) with the occupied loads and the strike time \(\tau_{ui}^{st}\)
12:return\((U_{ui},t_{ui},\tau_{ui}^{st})\)
13:elseif\(n_{st}<n_{st\max}\)then\(\triangleright\) Expand the request range for strike UAVs until \(n_{st\max}\)
14:\(n_{st}\gets n_{st}+1\)
15: Recursive optimize strike plan using Algorithm 4
16:else
17:return Failed\(\triangleright\) There is not enough strike UAVs to execute this task
18:endif
```  
**Algorithm 4** Strike plan Optimization within UAV \(u_{i}\)  
However, if any UAV rejects the invitation, it will be excluded and the scheme will be optimized again until the strike task is successfully assigned.