Heterogeneous multi-task allocation algorithm based on multi-round distributed auction

Aiming at the distributed decision-making needs of different combat tasks such as multi-machine collaborative detection, attack, and evaluation, a multi-round distributed auction algorithm for heterogeneous tasks with time constraints is established. The algorithm flexibly solves the distributed collaborative task allocation problem with complex constraints between drones with different capabilities. In the distributed task allocation framework, each drone can realize distributed asynchronous computing and asynchronous communication, and can ensure good solution efficiency and accuracy. The task allocation principle is mainly based on the nearest allocation, while taking into account the target value and time constraints, realizing the priority allocation of important targets under limited resources and making the total journey as short as possible. Simulation results show that: given any number of drones and targets and the configuration of drone combat capabilities, the heterogeneous multi-round distributed auction algorithm can obtain good allocation results.