A Damage-Tolerant Task Assignment Algorithm for UAV Swarm in Confrontational Environments

Table 1

Definition of main notations.

Notation	Definition
	The ^th task in task set
, , , , ,	Task ’s type, target appearance time, deadline, execution position, environment-threatened value, supplementary instruction
	The ^th UAV in UAV set
, , , , , ,	UAV ’s endurance time, maximum velocity, ability type, finish time of the last execution task, position of the last execution task, remained striking resource, total flying time
	The preparation time of UAV to execute task
	The earliest finish time of task on UAV
,	The execution time and finish time of on
,	The preparation start time and execution start time of task on UAV
	is “1” if task has backup ; otherwise, is “0”
,	The UAV to which and are assigned
,	is “1” if is assigned to ; otherwise, is “0”