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This paper addresses the problem of task allocation for wide area search munitions. The munitions are required to search for, classify, attack, and verify the destruction of potential targets. It is assumed that target field information is communicated between all elements of the swarm. A network flow optimization model is used to develop a linear program for optimal resource allocation. This method can be used to generate a "tour" of several assignments to be performed consecutively, by running the assignment iteratively and only updating the assigned task with the shortest estimated time-of-arrival (ETA) in each iteration. Periodically resolving the overall optimization problem as new targets are discovered results in coordinated action by the search munitions. Variable path lengths are used to improve overall performance and guarantee computation of feasible paths. Simulation results are presented for a swarm of eight vehicles searching an area containing multiple potential targets.
Schumacher et al. (Sat,) studied this question.