Decentralized Algorithms for Weapon-Target Assignment in Swarming Combat System

Figure 3

Illustration for the process of a task swap. (a) The weapons on the loop pass their tasks to their successors along the closed cycle. (b) New task assignment result. (c) In the survival probability matrix, the connecting arrows form a swap loop. The circular marks denote the old assignment, and the square marks denote the new assignment. The sum of the survival probability of the new assignment is decreased, and this implies that the damage efficiency is improved.

(a)

(b)

(c)