Research Article

Task Assignment for Multi-UAV under Severe Uncertainty by Using Stochastic Multicriteria Acceptability Analysis

Algorithm 1

Calculating the indices for target .
(1)     Initialize the data;
(2)    For = 1 to do//   is the number of iterations
(3)  Randomly generate a weight vector based on the prior weight information;
(4)  Randomly generate a set of sub-criteria values (, , , , , );
(5)  Calculate ( = 1, 2, 3) for each , using (1);
(6)  Calculate ( = 1, 2, 3) for each , using (24);
(7)  Calculate for each using (15);
(8)  Sort according to the size of ; getting ; //   represents the sorting of    in iteration  .
(9)  If rank the first, then ;
(10)  End for
(11)   For = 1 to do
(12)  For = 1 to do
(13)   ; //   is the total number of times that    obtains rank  ;
(14)   ;
(15)  End for
(16)  Calculate according to (21);
(17)  End for
(18)   For = 1 to do
(19)  ;
(20) End for
(21)  For = 1 to do //   is the number of iterations
(22)  Randomly generate a set of sub-criteria values (, , , , , );
(23)  Calculate ( = 1, 2, 3) for each , using (1);
(24)  Calculate ( = 1, 2, 3) for each , using (24);
(25)      For = 1 to do
(26)         ;
(27)       Calculate for each using (15);
(28)       Sort according to the size of ;
(29)       If rank the first, then ;
(30)      End for
(31)  End for
(32) For = 1 to do
(33) ;
(34) End for