Research Article

Cooperative Task Allocation Method of MCAV/UCAV Formation

Algorithm 1

CTSGA for based on constraint condition. Where denotes the cardinality of the vector, and denote the task set whose task element has been executed by and other ants in except for , respectively.
Input: , , , ; Output:
(1) procedure Select and task set
(2) if   then
(3)  if   then
(4)  
(5)  end if
(6) end if
(7) end procedure