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The purpose of this paper is to present and implement a task allocation method based on game theory for reconnaissance mission planning of UAVs and USVs system.

In this paper, the decision-making framework via game theory of mission planning is constructed. The mission planning of UAVs–USVs is transformed into a potential game optimization problem by introducing a minimum weight vertex cover model. The modified population-based game-theoretic optimizer (MPGTO) is used to improve the efficiency of solving this complex multi-constraint assignment problem.

Several simulations are carried out to exhibit that the proposed algorithm obtains the superiority on quality and efficiency of mission planning solutions to some existing approaches.

Several simulations are carried out to exhibit that the proposed algorithm obtains the superiority on quality and efficiency of mission planning solutions to some existing approaches.

The proposed framework and algorithm are expected to be applied to complex real scenarios with uncertain targets and heterogeneity.

The decision framework via game theory is proposed for the mission planning problem of UAVs–USVs and a MPGTO with swarm evolution, and the adaptive iteration mechanism is presented for ensuring the efficiency and quality of the solution.