A Two-Layer Task Assignment Algorithm for UAV Swarm Based on Feature Weight Clustering

Table 1

The consensus rules between UAV clusters.

	Cluster (sender) thinks is	Cluster (receiver) thinks is	Receiver’s action (default: leave)
1			IF , Update
2			Update
3			IF OR , Update
4			Update
5			Leave
6			Reset
7			IF , Reset
8			Leave
9			IF AND , Update
10			IF , Update
11			Reset
12			IF , Update
13			IF AND , Update
14			IF AND , Update
15			IF AND , Reset
16			IF , Update
17			Leave
18			Update
19			IF , Update
20			Leave