Optimization of Allocation and Launch Conditions of Multiple Missiles for Three-Dimensional Collaborative Interception of Ballistic Targets

Algorithm 1

Covariance Matrix Adaptation (CMA).

  Input: Objective Function , Number of Samples per Iteration , Number of Iterations , Weights

  Output: Approximate optimal solution

  // Initialization

(1) , , , , , , , , , , ,   

(2) while    do

(3)   for   in   do

      // Sample Candidate Solutions

(4)     ,

    // Sort the Candidate Solutions Based on Their Cost

(5)   , such that

    // Move the mean to low cost solutions

(6)   

    // Update Evolution Path Variables

(7)   

(8)   

     // Update The Covariance Matrix

(9)   if    then

(10)    

(11)   else

(12)    

(13)   

(14)   

(15)   

    // After the algorithm stops, output the best sample

(16)