有人机/无人机编队协同任务分配方法

任务分配方法是任务控制过程的重要组成部分，是编队协同作战指挥策略的关键。以合同网协议(contract net protocol, CNP)和多智能体系统（multi-agent system, MAS）理论为基础，建立了有人机/无人机编队MAS结构和基于投标过程的任务分配模型，将任务优先权引入任务分配模型中，可以实现预先任务分配和执行过程中动态任务分配，保证动态环境下编队整体分配效能较优。针对作战想定进行了仿真计算，结果表明,基于CNP和MAS理论的有人机/无人机编队协同任务分配策略具有良好的预先任务分配和实时任务分配效果，能够满足编队作战任务的需要。

Cooperative task assignment method of manned/unmanned aerial vehicle formation

Task assignment method is an important part of task control process and plays a key role in formation cooperation C2.Based on contract net protocol(CNP) and multi-agent system(MAS) theory,MAS architecture and a bid based task assignment model of manned/unmanned aerial vehicle formation are built,and task priority is introduced into this model.The model can assign tasks in advance or in the process of mission running dynamically,which guarantees the overall assignment effectiveness relatively optimized in dy...