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

Table 2

The consensus rules between UAVs within a UAV cluster.

	UAV (sender) thinks is	UAV (receiver) thinks is	Receiver’s action (default: leave)
1			IF , Update
2			Update
3			IF OR , Update
4		Other clusters	IF , Update
5			Update
6			Leave
7			Reset
8			IF , Reset
9		Other clusters	Reset
10			Leave
11			IF AND , Update
12			IF , Update
13			Reset
14			IF , Update
15			IF AND , Update
17			IF AND , Update
18			IF AND , Reset
19		Other clusters	IF AND , Update
20			IF , Update
21	Other clusters		IF , Update
22			Reset
23			IF , Update
24		Other clusters	IF AND , Update
25			IF AND , Update
26			IF AND , Reset
27			Leave
28			Update
29			IF , Update
30		Other clusters	Update
31			Leave