[3] [3] WU W,WANG X,CUI N.Fast and coupled solution for cooperative mission planning of multiple heterogeneous unmanned aerial vehicles［J］.Aerospace Science and Technology,2018,79:131-144.

[4] [4] JIA Z,YU J,AI X,et al.Cooperative multiple task assignment problem with stochastic velocities and time windows for heterogeneous unmanned aerial vehicles using a genetic algorithm［J］.Aerospace Science and Technology,2018, 76:112-125.

[7] [7] ZHEN Z Y,WEN L D,WANG B L,et al.Improved contract network protocol algorithm based cooperative target allocation of heterogeneous UAV swarm［J］.Aerospace Science and Technology,2021,119:107054.

[9] [9] QIN B Y,ZHANG D,TANG S,et al.Distributed grouping cooperative dynamic task assignment method of UAV swarm［J］.Applied Sciences,2022,12(6):2865.

[10] [10] KIM M H,BAIK H,LEE S.Resource welfare based task allocation for UAV team with resource constraints［J］.Journal of Intelligent & Robotic Systems,2015,77:611-627.

[11] [11] SMITH R G.The contract net protocol:high-level communication and control in a distributed problem solver ［J］.IEEE Transactions on Computers,1980,29(12):1104-1113.

[13] [13] PENG W,LU X C.On the reduction of broadcast redundancy in mobile ad hoc networks［C］//The First Annual Workshop on Mobile and Ad Hoc Networking and Computing.Boston,MA:IEEE,2000:129-130.