Real-Time Task Allocation of Heterogeneous Unmanned Aerial Vehicles for Search and Prosecute Mission
Algorithm 2
The resource tree-based coalition formation algorithm.
Input: potential coalition members , and their arrival time , energy consumption
Output:
1: ,,
2: Take the target as the root node, denote as .
3:
4: whiledo
5: Select a member from except for the current node and its parent, all grandparents, and left brother nodes, and add it to the current node, denote as .
6: is ’s parent node
7:
8: ifthen
9: current node, its parent node, and all grandparent nodes except for the root node
10:
11: end if
12: if and no nodes can be added to this layer then
