## 3 Task Assignment Algorithm Based on Extended CNP
### Distributed Multi-Constraint Dynamic Task Assignment Algorithm
The capability parameters of each UAV under the scenario are shown in Table 1, and the parameters of reconnaissance payload and attack payload are shown in Tables 2 and 3, respectively. The feasible area of UAV reconnaissance and attack for a target on the ground, based on the above parameter configuration, is shown in \[Winner_{k}=Index(B_{(1),k},\ B_{(2),k},\ \ldots,\ B_{(Np,k),k}) \tag{14}\]7 \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**UAV** & \begin{tabular}{c} **Initial** \\ **Position (m)** \\ \end{tabular} & \begin{tabular}{c} **The Maximum** \\ **Air-Range (m)** \\ \end{tabular} & \begin{tabular}{c} **Fuel Consumption** \\ **Rate (m\({}^{-1}\))** \\ \end{tabular} & \begin{tabular}{c} **Velocity** \\ **(m/s)** \\ \end{tabular} & \
\begin{tabular}{c} **The Maximum** \\ **Number of Tasks** \\ \end{tabular} &
\begin{tabular}{c} **Mission Capability** \\ **Reconnaissance Attack** \\ \end{tabular} \\ \hline V1 & (2500,20,200) & 10,000 & 0.01 & 120 & 2 & \(\surd\) & \\ V2 & (0,20,200) & 10,000 & 0.03 & 80 & 2 & \(\surd\) & \(\surd\) \\ V3 & (5000,200) & 10,000 & 0.03 & 80 & 2 & \(\surd\) & \(\surd\) \\ V4 & (500,20,200) & 10,000 & 0.01 & 120 & 2 & \(\surd\) & \\ V5 & (1000,20,200) & 10,000 & 0.01 & 120 & 2 & \(\surd\) & \\ V6 & (1500,20,200) & 10,000 & 0.02 & 100 & 2 & \(\surd\) & \\ V7 & (2000,200,200) & 10,000 & 0.02 & 100 & 2 & \(\surd\) & \(\surd\) \\ V8 & (4500,20,200) & 10,000 & 0.01 & 120 & 2 & \(\surd\) & \\ V9 & (4000,20,200) & 10,000 & 0.01 & 120 & 2 & \(\surd\) & \\ V10 & (3500,20,200) & 10,000 & 0.02 & 100 & 2 & \(\surd\) \\ V11 & (3000,20,200) & 10,000 & 0.02 & 100 & 2 & \(\surd\) \\ \hline \hline \end{tabular}
\end{table} 
Table 1: The table of capability parameters of UAVs. \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Flight Velocity** & \begin{tabular}{c} **The Minimum** \\ **U/m** \\ \end{tabular} & \begin{tabular}{c} **The Maximum** \\ **L**aunch Distance** \\ **R\({}_{\text{s,min}}\)/m** \\ \end{tabular} & \begin{tabular}{c} **The Maximum** \\ **off-Boresight** \\ **Angle \(\varphi_{\text{s,max}}\)\({}^{\circ}\)** \\ \end{tabular} & \begin{tabular}{c} **The Maximum** \\ **Operating Range of** \\ **Guidance Equipment** \\ **d\({}_{\text{max}}\)/m** \\ \end{tabular} & \
\begin{tabular}{c} **Maximum Horizontal** \\ **Detection Angle** \\ **of Guidance** \\ **Equipment \(\pm\)\(\Phi_{\text{s,max}}\)\({}^{\circ}\)** \\ \end{tabular} &
\begin{tabular}{c} **Aiming Time of** \\ **Guidance** \\ **Equipment\(\mu\)s** \\ \end{tabular} \\ \hline
100 & 80 & 60 & 30 & \(\pm\)60 & 0.2 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: The parameter table of UAV attack load. Figure 8: The communication topology \(G_{0}\) of the UAV swarm. Consider a \(5\times 5\) km mission scenario. The information of known targets and the time window constraints of subtasks randomly generated is shown in Table 4.

### The Initial Task Assignment for Known Targets

Assume that the UAV swarm performs the reconnaissance-and-attack tasks at six enemy targets. The location of each UAV, threat, and target is shown in Figure 10. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**Target**} & \multirow{2}{*}{**Coordinate (m)**} & \multicolumn{2}{c}{**Task Type**} & \multicolumn{2}{c}{**Time Window of S**} & \multicolumn{2}{c}{**Time Window of A**} \\ \cline{3-8}  & & **Reconnaissance S** & **Attack A** & **Latest (s)** & **Earliest (s)** & **Latest (s)** & **Earliest (s)** \\ \hline T1 & (538.4, 3516.3, 0) & \(\surd\) & \(\surd\) & 73.7 & 93.7 & 98.7 & 123.7 \\ T2 & (1497.9, 3788.2, 0) & \(\surd\) & \(\surd\) & 117.5 & 137.5 & 142.5 & 167.5 \\ T3 & (2396.8, 4602.3, 0) & \(\surd\) & \(\surd\) & 150.3 & 170.3 & 175.3 & 200.3 \\ T4 & (4005.0, 4287.9, 0) & \(\surd\) & \(\surd\) & 193.8 & 213.8 & 218.8 & 243.8 \\ T5 & (3359.0, 4171.4, 0) & \(\surd\) & \(\surd\) & 249.6 & 269.6 & 274.6 & 299.6 \\ T6 & (1949.3, 3865.2, 0) & \(\surd\) & \(\surd\) & 167.0 & 187.0 & 192.0 & 217.0 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: The table of information on known targets.