Two-Layer Optimization Algorithm for Multi-UAV Conflict Resolution considering Individual Fairness

Table 3

Performance comparison of the two resolution strategies.

Strategies	Conflict resolution UAVs individual pay costs (m)
	UAV1	UAV2	UAV3	UAV4	UAV5	UAV6	UAV7	UAV8
Cooperative game “coalition complaint value”	30.48	38.48	43.58	16.54	42.15	36.47	30.58	24.15
Traditional cooperation	20.58	63.56	24.59	18.4	44.25	66.48	16.14	6.8