NECTAR-An Agent-Based Dynamic Task Allocation Algorithm in the UAV Swarm

Table 1

Definition of main notations.

Notation	Definition
ti	The i^th task in task set T
tyi, tai, tdi, tpi, and tsi	Task ti’ type, arrival time, deadline time, position, and task supplementary information
uj	The j^th UAV in UAV set U
uvj, utj, udj, ltfj, ltpj, rsrj, and tftj	UAV uj’ velocity, ability type, duration time, finish time of the last execution task, position of the last execution task, remained striking resource, and total flying time
ptij	The preparation time of UAV uj to execute task ti
spij and seij	The preparation start time and execution start time of task ti on UAV uj
eij and fij	The execution time and finish time of ti on uj
U(ti)	The UAV to which ti is assigned
xij	xij is “1” if ti is assigned to uj; otherwise, xij is “0”