Decentralized Algorithms for Weapon-Target Assignment in Swarming Combat System
Algorithm 1
The redesigned auction-based algorithm AB1.
Input: ,,;;,,,;
Output: ,,,,;
(1)
//Update the local assignment information among its neighbors based on the maximum consensus technique.
(2)
;
(3)
;
(4)
; //The value of and denotes each weapon-to-target assignment pair and damage probability of the assignment, respectively. The information is used to calculate the value of the objective function in Step 14.
(5)
;
(6)
;
(7)
//Weapon selects a new desired target and updates the price if another weapon exhibits a bid higher than ’s previous price.
(8)
If or then
(9)
Initialize the desired targets set ;
(10)
;
(11)
;
(12)
;
(13)
;
(14)
The new value of the objective function, , is obtained by using equation (1);
(15)
If or then
(16)
; //Update price
(17)
Assign new value to the variables, i.e., ,,;
(18)
Else
(19)
;
(20)
Retain the previous price and assignment information;
