Figures (7)  Tables (0)

    • Figure 1. 

      Conceptual diagram of the capability-centric dynamic matching mapping for MAS.

    • Figure 2. 

      Schematic diagram of the hop-limited propagation mechanism.

    • Figure 3. 

      Configuration of heterogeneous MAVs and tasks at t = 26.5 s in the dynamic environment.

    • Figure 4. 

      The coalition formation results for task T2 at time 51.1 s. (a) MAV coalition for task T2. (b) Curvature of these paths. (c) Estimated time of arrival.

    • Figure 5. 

      The coalition formation results for task T1 at time 89.7 s. (a) MAV coalition for task T1. (b) Curvature of these paths. (c) Estimated time of arrival.

    • Figure 6. 

      Comparison of results from three coalition formation methods. (a) Average mission completion time. (b) Average system utility.

    • Figure 7. 

      Impact of communication constraints on the performance of the TACM method. (a) MAV's detection range: 300 m; communication range: 600 m. (b) MAV's detection range: 500 m; communication range: 1,000 m.