Table 4 Task assignment results of \(N=5,M=4\).

From: Integrated method for multi-UAV task assignment and trajectory planning with deadlock based on Three-dimensional dubins path

No.

U

\({\varvec{p}}\)

Integrated solution

Decoupling solution

1

\({U_1}\)

\(T_{4}^{1}\)

\(T_{3}^{2} - T_{4}^{1} - T_{2}^{3}\)

2

\({U_2}\)

\(T_{3}^{1} - T_{4}^{3} - T_{2}^{3} - T_{1}^{3}\)

\(T_{1}^{1} - T_{3}^{1}\)

3

\({U_3}\)

\(T_{1}^{1} - T_{3}^{3}\)

\(T_{1}^{3} - T_{2}^{3} - T_{4}^{3}\)

4

\({U_4}\)

\(T_{2}^{1} - T_{1}^{2}\)

\(T_{2}^{1} - T_{1}^{2} - T_{2}^{2} - T_{4}^{2}\)

5

\({U_5}\)

\(T_{2}^{2} - T_{3}^{2} - T_{4}^{2}\)

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