Real-Time Task Allocation of Heterogeneous Unmanned Aerial Vehicles for Search and Prosecute Mission

<div>Resource tree of the target <span class="nowrap"><svg height="12.1958pt" id="M215" style="vertical-align:-3.181479pt" version="1.1" viewbox="-0.0498162 -9.01432 16.9465 12.1958" width="16.9465pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M896 675C863 652 826 634 783 634C683 634 549 687 439 687C259 687 128 601 128 473C128 383 196 329 279 329C392 329 469 405 496 541H476C440 428 385 359 286 359C224 359 169 400 169 480C169 566 257 641 382 641C475 641 622 584 731 584C796 584 862 620 907 657L896 675ZM658 553C579 484 521 424 454 277C364 81 295 16 184 16C120 16 82 44 78 79H80C87 68 100 67 108 67C136 67 153 89 153 116S131 165 104 165C69 165 43 139 43 91C43 31 110 -15 191 -15C263 -15 321 6 378 45C463 101 526 197 557 304C588 413 618 487 671 539L658 553Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.856,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg>.</span></div>

Wireless Communications and Mobile Computing

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Figure 6

Figure 6: Real-Time Task Allocation of Heterogeneous Unmanned Aerial Vehicles for Search and Prosecute Mission 