With the rapid advancement of UAV technology, the problem of UAV coalition formation has become a hotspot. Therefore, designing task-driven multi-UAV coalition formation mechanism has become a challenging problem. However, existing coalition formation mechanisms suffer from low relevance between UAVs and task requirements, resulting in overall low coalition utility and unstable coalition structures. To address these problems, this paper proposed a novel multi-UAV coalition network collaborative task completion model, considering both coalition work capacity and task-requirement relationships. This model stimulated the formation of coalitions that match task requirements by using a revenue function based on the coalition's revenue threshold. Subsequently, an algorithm for coalition formation based on marginal utility was proposed. Specifically, the algorithm utilized Shapley value to achieve fair utility distribution within the coalition, evaluated coalition values based on marginal utility preference order, and achieved stable coalition partition through a limited number of iterations. Additionally, we theoretically proved that this algorithm has Nash equilibrium solution. Finally, experimental results demonstrated that the proposed algorithm, compared to currently classical algorithms, not only forms more stable coalitions but also further enhances the overall utility of coalitions effectively.

考虑到 UAV 联盟形成的低相关性与稳定性问题，本文提出了一种基于任务驱动的多 UAV 联盟网络协同任务完成模型，通过收益阈值和 Shapley 值实现联盟形成与稳定的分配，有效提升联盟的整体效益。

一种任务驱动的多无人机联盟形成机制