{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T13:45:03Z","timestamp":1780494303636,"version":"3.54.1"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T00:00:00Z","timestamp":1771459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T00:00:00Z","timestamp":1771459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Cloud Comp"],"DOI":"10.1186\/s13677-025-00832-y","type":"journal-article","created":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T14:02:04Z","timestamp":1771509724000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Multi-stage task allocation strategy for UAV clusterin multi-object tracking"],"prefix":"10.1186","volume":"15","author":[{"given":"Xun","family":"Zhao","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunping","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuaihui","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tingting","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiguang","family":"Gong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liansheng","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,2,19]]},"reference":[{"key":"832_CR1","doi-asserted-by":"publisher","first-page":"12","DOI":"10.1186\/s44147-025-00582-3","volume":"72.1","author":"Y Alqudsi","year":"2025","unstructured":"Alqudsi Y, Makaraci M (2025) UAV swarms: research, challenges, and future directions. J Eng Appl Sci 72.1:12","journal-title":"J Eng Appl Sci"},{"key":"832_CR2","doi-asserted-by":"publisher","first-page":"75","DOI":"10.3390\/drones9010075","volume":"9.1","author":"S Alqefari","year":"2025","unstructured":"Alqefari S, Menai MEB (2025) Multi-UAV task assignment in dynamic environments: current trends and future directions. Drones 9.1:75","journal-title":"Drones"},{"key":"832_CR3","doi-asserted-by":"publisher","first-page":"6397","DOI":"10.1109\/TITS.2024.3375893","volume":"25.7","author":"MR Rezaee","year":"2024","unstructured":"Rezaee MR et al (2024) Comprehensive review of drones collision avoidance schemes: challenges and open issues. IEEE Trans Intell Transp Syst 25.7:6397\u20136426","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"832_CR4","doi-asserted-by":"crossref","unstructured":"Alqudsi, Y., & Makaraci, M. (2025). Exploring advancements and emerging trends in robotic swarm coordination and control of swarm flying robots: A review. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 239, no. 1, pp. 180\u2013204","DOI":"10.1177\/09544062241275359"},{"key":"832_CR5","doi-asserted-by":"crossref","unstructured":"Ye F et al. (2021) Decentralized task allocation for heterogeneous multi-UAV system with task coupling constraints. J Supercomput 77.1","DOI":"10.1007\/s11227-020-03264-4"},{"key":"832_CR6","doi-asserted-by":"crossref","unstructured":"MahmoudZadeh S et al (2024) Holistic review of UAV-centric situational awareness: applications, limitations, and algorithmic challenges. Robotics 13.8:117","DOI":"10.3390\/robotics13080117"},{"key":"832_CR7","doi-asserted-by":"publisher","first-page":"100544","DOI":"10.1016\/j.cosrev.2023.100544","volume":"48","author":"J Tan","year":"2023","unstructured":"Tan J et al (2023) A survey: when moving target defense meets game theory. Comput Sci Rev 48:100544","journal-title":"Comput Sci Rev"},{"issue":"6","key":"832_CR8","doi-asserted-by":"publisher","first-page":"2853","DOI":"10.1109\/TAES.2018.2831138","volume":"54","author":"Y Chen","year":"2018","unstructured":"Chen Y, Yang D, Yu J (2018) Multi-UAV task assignment with parameter and time-sensitive uncertainties using modified two-part wolf pack search algorithm. IEEE Trans Aerosp Electron Syst 54(6):2853\u20132872","journal-title":"IEEE Trans Aerosp Electron Syst"},{"issue":"2","key":"832_CR9","doi-asserted-by":"publisher","first-page":"204","DOI":"10.11992\/tis.201811018","volume":"15","author":"XG Qi","year":"2020","unstructured":"Qi XG, Li B, Fan YS et al (2020) A survey of mission planning on UAVs systems based on multiple constraints. CAAI Trans Intell Syst 15(2):204\u2013217. https:\/\/doi.org\/10.11992\/tis.201811018","journal-title":"CAAI Trans Intell Syst"},{"issue":"3","key":"832_CR10","doi-asserted-by":"publisher","first-page":"034009","DOI":"10.1103\/PhysRevApplied.14.034009","volume":"14","author":"P Vikst\u00e5l","year":"2020","unstructured":"Vikst\u00e5l P, Gr\u00f6nkvist M, Svensson M et al. (2020) Applying the quantum approximate optimization algorithm to the tail-assignment problem. Phys Rev Appl 14(3):034009","journal-title":"Phys Rev Appl"},{"issue":"2","key":"832_CR11","doi-asserted-by":"publisher","first-page":"432","DOI":"10.1007\/s11771-020-4307-0","volume":"27","author":"J Wang","year":"2020","unstructured":"Wang J, Jia G, Lin J et al (2020) Cooperative task allocation for heterogeneous multi-UAV using multi-objective optimization algorithm. J Central South Univ 27(2):432\u2013448","journal-title":"J Central South Univ"},{"issue":"1","key":"832_CR12","doi-asserted-by":"publisher","first-page":"110","DOI":"10.1016\/j.asoc.2018.06.006","volume":"71","author":"HA Kurdi","year":"2018","unstructured":"Kurdi HA, Aloboud E, Alalwan M et al (2018) Autonomous task allocation for multi-UAV systems based on the locust elastic behavior. Appl Soft Comput 71(1):110\u2013126","journal-title":"Appl Soft Comput"},{"key":"832_CR13","doi-asserted-by":"crossref","unstructured":"Zhang S, Duan H (2015) Multiple UCAVs target assignment via bloch quantum-behaved pigeon-inspired optimization. In Chinese Control Conference (CCC), IEEE Control Systems Magazine;Hangzhou, China. Piscataway(NJ), 6936\u20136941). 2015 July 28\u201330","DOI":"10.1109\/ChiCC.2015.7260736"},{"issue":"2","key":"832_CR14","doi-asserted-by":"publisher","first-page":"339","DOI":"10.1016\/j.cja.2017.09.005","volume":"31","author":"Z Wang","year":"2018","unstructured":"Wang Z, Liu L, Long T et al (2018) Multi-UAV reconnaissance task allocation for heterogeneous targets using an opposition-basedgenetic algorithm with double-chromosome encoding. Chin J Aeronautics 31(2):339\u2013350","journal-title":"Chin J Aeronautics"},{"key":"832_CR15","doi-asserted-by":"crossref","unstructured":"Adbelhafiz MM, Girard A, A (2010) Vehicle routing problem instances: application to multi-UAV mission planning. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, American Institute of Aeronautics and Astronautics, Toronto, ON, Canada: Reston, VA, USA. 2\u20135 August 2010","DOI":"10.2514\/6.2010-8435"},{"issue":"1","key":"832_CR16","doi-asserted-by":"publisher","first-page":"105","DOI":"10.1007\/BF02186476","volume":"14","author":"P Bertsekas D","year":"1988","unstructured":"Bertsekas D P (1988) The auction algorithm: a distributed relaxation method for the assignment problem. Ann Operations Res 14(1):105\u2013123","journal-title":"Ann Operations Res"},{"key":"832_CR17","doi-asserted-by":"crossref","unstructured":"Zavlanos, M. M., Spesivtsev, L., & Pappas, G. J. (2008). A distributed auction algorithm for the assignment problem. In Proceedings of the 47th IEEE Conference on Decision and Control (pp. 1212\u20131217). IEEE","DOI":"10.1109\/CDC.2008.4739098"},{"issue":"8","key":"832_CR18","doi-asserted-by":"publisher","first-page":"1738","DOI":"10.1016\/j.engappai.2011.12.003","volume":"25","author":"S Adhau","year":"2012","unstructured":"Adhau S, Mittal M L, Mittal A (2012) A multi-agent system for distributed multi-project scheduling: an auction-based negotiation approach. Eng Appl Artif Intel 25(8):1738\u20131751","journal-title":"Eng Appl Artif Intel"},{"issue":"8","key":"832_CR19","doi-asserted-by":"publisher","first-page":"916","DOI":"10.1016\/j.comcom.2012.02.004","volume":"35","author":"N Edalat","year":"2012","unstructured":"Edalat N, Tham C K, Xiao W (2012) An auction-based strategy for distributed task allocation in wireless sensor networks. Comput Commun 35(8):916\u2013928","journal-title":"Comput Commun"},{"issue":"3","key":"832_CR20","doi-asserted-by":"publisher","first-page":"674","DOI":"10.1287\/opre.2017.1590","volume":"65","author":"Y Xia","year":"2017","unstructured":"Xia Y, Batta R, Nagi R (2017) Controlling a fleet of unmanned aerial vehicles to collect uncertain information in a threat environment. Operations Res 65(3):674\u2013692","journal-title":"Operations Res"},{"key":"832_CR21","doi-asserted-by":"crossref","unstructured":"Zhang K, Zhao X, Li Z et al (2020) Real-time reconnaissance task assignment of multi-UAV based on improved contract network. In International Conference on Artificial Intelligence and Computer Engineering (ICAICE), IEEE, Beijing, China. Piscataway(NJ), 472\u2013479. 2020 Oct. 23\u201335","DOI":"10.1109\/ICAICE51518.2020.00098"},{"key":"832_CR22","doi-asserted-by":"crossref","unstructured":"Song T, Yan X, Liang A et al (2009) A distributed bidirectional auction algorithm for multirobot coordination. In Proceedings of the International Conference on Research Challenges in Computer Science, IEEE, Shanghai, China. Piscataway(NJ), 145\u2013148. 2009 Dec. 28\u201329","DOI":"10.1109\/ICRCCS.2009.44"},{"key":"832_CR23","doi-asserted-by":"crossref","unstructured":"Li J, Zhang K, Xia G (2017) Multi-AUV cooperative task allocation based on improved contract network. In 2017 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, Takamatsu, Japan. Piscataway(NJ), 608\u2013613). 2017 Aug. 6\u20139","DOI":"10.1109\/ICMA.2017.8015886"},{"key":"832_CR24","doi-asserted-by":"publisher","first-page":"394","DOI":"10.1007\/s11768-024-00202-0","volume":"22.3","author":"C Gao","year":"2024","unstructured":"Gao C et al (2024) A hierarchical multi-UAV cooperative framework for infrastructure inspection and reconstruction. Control Theory Technol 22.3:394\u2013405","journal-title":"Control Theory Technol"},{"key":"832_CR25","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1007\/s10846-023-01935-x","volume":"109.2","author":"G Galati","year":"2023","unstructured":"Galati G, Primatesta S, Rizzo A (2023) Auction-based task allocation and motion planning for multi-robot systems with human supervision. J Intell Rob Syst 109.2:24","journal-title":"J Intell Rob Syst"},{"key":"832_CR26","doi-asserted-by":"crossref","unstructured":"Ye F et al (2021) Decentralized task allocation for heterogeneous multi-UAV system with task coupling constraints. J Supercomput 77.1","DOI":"10.1007\/s11227-020-03264-4"},{"key":"832_CR27","unstructured":"Zhang MY, Wang MY, Wang XD et al (2019) Cooperative real-time task assignment of UAV group based on improved contract net. Aero Weapon 26(4):38\u201346"},{"key":"832_CR28","doi-asserted-by":"publisher","first-page":"515","DOI":"10.1016\/j.ins.2018.06.061","volume":"509","author":"H Qiu","year":"2020","unstructured":"Qiu H, Duan H (2020) A multi-objective pigeon-inspired optimization approach to UAV distributed flocking among obstacles. Inf Sci 509:515\u2013529","journal-title":"Inf Sci"},{"key":"832_CR29","doi-asserted-by":"crossref","unstructured":"Li J, Zhang K, Xia G (2017) Multi-AUV cooperative task allocation based on improved contract network. In 2017 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE","DOI":"10.1109\/ICMA.2017.8015886"}],"container-title":["Journal of Cloud Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13677-025-00832-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1186\/s13677-025-00832-y","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13677-025-00832-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T14:02:10Z","timestamp":1771509730000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1186\/s13677-025-00832-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2,19]]},"references-count":29,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,12]]}},"alternative-id":["832"],"URL":"https:\/\/doi.org\/10.1186\/s13677-025-00832-y","relation":{},"ISSN":["2192-113X"],"issn-type":[{"value":"2192-113X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2,19]]},"assertion":[{"value":"9 July 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 December 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 February 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval and consent to participate"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"The authors declare no competing interests.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"21"}}