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Coalition Formation Game-based Approach for Task Allocation with Large-scale UAVs

This paper proposes a coalition formation game(CFG) approach for the task allocation problem with large-scale unmanned aerial vehicles(UAV). Consider that each task needs to be completed by multiple UAVs with a specific type, who have different rewards and costs for various tasks. Firstly, the task allocation problem is modeled as a CFG. Furthermore, a coalition formation algorithm is proposed, in which leaders of the tasks are determined by weighted maximum matching, and other UAVs join a specific coalition to maximize the rewards of all tasks according to the proposed preference relation and switch rule. It is proved that the coalition formation process based on the designed preference relation can converge to Nash stable partition, which is regarded as the solution for allocation. Finally, simulation results show that the proposed method is effective, scalable and adaptable to dynamic environment.