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However, many dynamic events can cause a partial failure of the original mission during the mission execution process, in which case task reassignment should be carried out. How to reassign resources and tasks in multi-dynamic, multi-target, and multi-constraint events becomes a core issue in the enhancement of combat efficiency. This paper establishes a model of multi-UAV cooperative reconnaissance task reassignment that comprehensively considers various dynamic factors such as UAV performance differences, size of target areas, and time window constraints. Then, a two-stage distributed task assignment algorithm (TS-DTA) is presented to achieve multi-task reassignment in dynamic environments. Finally, this paper verifies the effectiveness of the TS-DTA algorithm through simulation experiments and analyzes its performance through comparative experiments. The experimental results show that the TS-DTA algorithm can efficiently solve the task reassignment problem in dynamic environments while effectively reducing the communication burden of UAV formations.<\/jats:p>","DOI":"10.3390\/s23187980","type":"journal-article","created":{"date-parts":[[2023,9,20]],"date-time":"2023-09-20T01:32:50Z","timestamp":1695173570000},"page":"7980","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["A Two-Stage Distributed Task Assignment Algorithm Based on Contract Net Protocol for Multi-UAV Cooperative Reconnaissance Task Reassignment in Dynamic Environments"],"prefix":"10.3390","volume":"23","author":[{"given":"Gang","family":"Wang","sequence":"first","affiliation":[{"name":"College of Computer Engineering, Naval University of Engineering, Wuhan 430033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiao","family":"Lv","sequence":"additional","affiliation":[{"name":"College of Computer Engineering, Naval University of Engineering, Wuhan 430033, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5657-5271","authenticated-orcid":false,"given":"Xiaohu","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Undergraduate Education, Shenzhen Polytechnic University, Shenzhen 518055, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Frattolillo, F., Brunori, D., and Iocchi, L. 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