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The assignment problem of the unmanned aerial vehicle (UAV) cluster to target group is analyzed based on the Holon theory. The formation process of the air fleet Holon alliance is the process of the unordered UAV cluster form into columns satisfying the tasks demand. The total task of the target group is decomposed into different types of sub tasks, defining the cluster resource redundancy index and the resource redundancy variance index according to the UAV resource capability and task resource requirement, a multi-objective optimization model of alliance formation is established.

Alliance Formation of Unmanned Aerial Vehicle based on Holon