Dynamic task allocation for UAV swarms in complex scenarios is often complicated by uncertain object discovery, potential UAV loss, as well as stringent battery and execution resource limitations. These resource constraints critically affect UAV survivability and mission success but are frequently neglected in existing studies. This paper develops an auction-based dynamic task allocation for resource-constrained UAV swarms conducting cooperative monitoring and interception missions in dynamic scenarios. Task priority is incorporated to prioritize high-urgency areas and identified objects, and a threshold-based cooperative engagement strategy is proposed to facilitate multi-UAV coordination for interception missions beyond individual UAV capabilities. Meanwhile, battery-aware resource allocation is adopted to improve utilization during cooperative operations. Simulation results across scenario scales and resource configurations demonstrate that the proposed method significantly improves UAV survivability while maintaining competitive mission completion rates, proving its effectiveness for resource-constrained UAV swarm operations.
Zhang et al. (Mon,) studied this question.