## 4 Experiment and Result Analysis
### Reconnaissance Task Assignment  
After the reconnaissance UAVs generate a reconnaissance plan and share it with each other, each node uses Algorithm 3 to fuse the received plan with its own plan. The fusion process of U7 is as Figure 4 shows, and at time=1, U7 tends to give priority to nearby tasks due to its own attention mechanism, so its assignments include U4\(\rightarrow\)T11, U14\(\rightarrow\)T4, and U24\(\rightarrow\)T29. However, this attention mechanism can cause inconsistencies among the generated plans when the distance between two UAVs is large. When merging the received plans with its own, U7 will take out the inconsistent part and redistribute it. At this time, its attention mechanism will be disabled, making the integrated plan more consistent with the views of each participant. When the conflict is resolved, the assignment of U7 in Figure 4 is consistent with the updated assignments of other nodes, so this assignment is finally adopted and implemented. The allocation results of the first round of reconnaissance tasks are shown as the green target lines of each reconnaissance node in Figure 5a, and the specific allocation information is shown in Table 6. The topology after a period of execution is shown in Figure 5b. From the allocation results, it can be found that the distributed allocation algorithm generally follows the principle of minimizing the completion time, but it also reflects the algorithm's expectation of enhancing the superiority over enemy and reducing mission risks. For example, U13 chose T6 instead of T12 as the first mission, because it is easier for the UAV swarms to form a superiority over enemy at T6. In contrast, the location of T12 is too dense and risky, and it should be executed after more UAVs are concentrated. The mission groups (T5, T23) and (T15, T28) are also relatively dense, but since the UAV swarm has a capability advantage here, the strategy of coordinating in time is adopted to reduce the mission risk. In the time-coordinated formation, the UAVs that could have arrived earlier choose to reduce the flight speed so that the formation can reach the targets at the same time, thereby avoiding the coordinated strike of the enemy due to individual exposure. When each UAV adopts the distributed task assignment algorithm in this paper, the task scheduling Gantt chart is as Figure 6 shows. In it, the blue boxes represent the reconnaissance behavior, and the red boxes represent strike behavior. From the Gantt chart, it can be found that for UAVs with both reconnaissance and strike capabilities, such as U0 and U5, when their own capabilities can meet the target capability requirements, the strike can be carried out immediately. For example, U0's strike on T10 and U5's strike on T11 are instant. For targets with strong defense capabilities, the coordinated strike of multiple UAVs is required. For example, the strikes on T0 and T26 are all completed by  
Figure 4: Negotiation process based on conflict resolution. the cooperation of four UAVs. Since the nodes with strike capability will maneuver to the reconnaissance nodes for deterrence when they are idle, it allows reconnaissance nodes that do not have strike capability can also strike quickly after discovering the target. For example, U25 can launch a strike on T9 (discovered by U15) within 8 s after confirming the strike mission.