Task Reallocation Method for Unmanned Swarm Under Adversarial Conditions

doi:10.16182/j.issn1004731x.joss.24-1005

Abstract

Abstract:

Heterogeneous unmanned swarms have important potential applications in future wars. However, during the high-intensity confrontation in the battlefield, how to efficiently and quickly redistribute the tasks carried by the damaged agents so that the swarms could successfully complete the mission is a difficult problem that must be addressed in the combat application of unmanned swarms. This paper proposes a task reallocation method named improved CNP-HA (contract net protocol-Hungarian algorithm). Through the allocation mechanism and the bidding mechanism, the method realizes the task reallocation of damaged agents with lower communication cost and faster speed comparing with baseline methods. In the simulation experiment, when a single agent is damaged, the average completion rate of target reallocation is increased from 87% to 100% by the proposed method, and the target reallocation can still be completed stably when multiple agents are damaged, and the resource scheduling rate and rapidity of the proposed method are better than the comparison algorithms.

Key words: adversarial conditions, agent damage, unmanned swarm, task allocation, reallocation

CLC Number:

TP391.9

Zhang Lun, Yang Mei, Zhao Tuo, Zhang Shuiku, Huang Jian. Task Reallocation Method for Unmanned Swarm Under Adversarial Conditions[J]. Journal of System Simulation, 2025, 37(1): 1-12.

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类别	速度/(m/s)	位置	数量	最大任务数
侦察智能体	[1,30]	随机	10	6
打击智能体	[1,30]	随机	10	6

关键节点	组内成员
U₀	U₉、U₁₀、U₈、U₁₅、U₁₄、U₁₁、U₁₇、U₁₉
U₃	U₁、U₂、U₄、U₅、U₆、U₇、U₁₂、U₁₈

智能体编号	任务类型	目标分配情况
U₀	侦察	T₁₆→T₂₄→T₁₈
U₁	侦察	T₂₁→T₂₀→T₂₇→T₂₃
U₂	侦察	T₂₂→T₂₆→T₈→T₁
U₃	侦察	T₁₂
U₄	侦察	0
U₅	侦察	T₃
U₆	侦察	T₁₁→T₁₃→T₁₇→T₂
U₇	侦察	T₆
U₈	侦察	T₁₄→T₉→T₇ →T₅→T₂₈→T₂₉
U₉	侦察	T₁₉→T₂₅→T₄→T₀→T₁₅→T₁₀
U₁₀	打击	T₁₉→T₃
U₁₁	打击	T₁₄→T₉→T₁₆→T₂₄→T₁₈→T₂₈
U₁₂	打击	T₇→T₁₂
U₁₃	打击	T₂₆→T₁
U₁₄	打击	T₂₁→T₂₀→T₅→T₂₇→T₂₃→T₂₉
U₁₅	打击	T₆→T₂
U₁₆	打击	T₂₂→T₂₅→T₄→T₀→T₁₅→T₈
U₁₇	打击	0
U₁₈	打击	T₁₁→T₁₃→T₁₇
U₁₉	打击	T₁₀

智能体编号	任务类型	携带目标数量	CNP算法完成度/%	CNP-HA算法完成度/%
U₀	侦察	3	100	100
U₁	侦察	4	75	100
U₂	侦察	4	50	100
U₃	侦察	1	100	100
U₄	侦察	0
U₅	侦察	1	100	100
U₆	侦察	4	75	100
U₇	侦察	1	100	100
U₈	侦察	6	66	100
U₉	侦察	6	66	100
U₁₀	打击	2	100	100
U₁₁	打击	6	66	100
U₁₂	打击	2	100	100
U₁₃	打击	2	100	100
U₁₄	打击	6	83	100
U₁₅	打击	2	100	100
U₁₆	打击	6	83	100
U₁₇	打击	0
U₁₈	打击	3	100	100
U₁₉	打击	1	100	100

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