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

Table 4

Individual payment costs of the two UAV priority allocation strategies.

Deployment strategies	Individual cost /m
	UAV1	UAV2	UAV3	UAV4	Total
Deployment strategy without considering priority	28.2894	28.2894	28.2894	28.2894	141.45
Priority allocation based on “coalition complaint value”	14.0705	53.3627	47.0112	38.0139	182.55