Coalition Formation Game for Reconnaissance and Attack Task Allocation in Heterogeneous UAV Swarm

Unmanned aerial vehicle (UAV) swarm is extensively used in several military applications, e.g., battlefield reconnaissance and attack. In this article, a heterogeneous UAV swarm consisting of the reconnaissance UAVs (RUAVs), unmanned combat aerial vehicles (UCAVs) and reconnaissance combat integrated UAVs (RCIUAVs) is considered. The cooperative reconnaissance and attack task allocation problem is formulated as a coalition formation game (CFG) and the partially cooperative order is proposed. Then, we prove that the formulated CFG is an exact potential game (EPG) which exists the stable coalition partition. The partially cooperative coalition formation algorithm is proposed. The simulation results show the validity of the proposed game model and algorithm.