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The problem of adversary target detection and the subsequent task completionusing a heterogeneous network of resource-constrained UAVs is considered. Noprior knowledge about locations and required resources to identify thesetargets is available to the UAVs. In the proposed leader-follower coalitionformation model, the UAV that first locates a target serves as the coalitionleader and selects a group of follower UAVs to complete the task associatedwith the identified target. The goal of the coalition formation is to completethe designated tasks with minimal resource utilization. Another role ofcoalition members is to make the ground station aware of the detected adversarytarget by forwarding its signal to the station via a distributed cooperativerelaying scheme. We also propose a reputation-based mechanism for coalitionformation to monitor the cooperative behavior of the UAVs over the course oftime and exclude potentially untrustworthy UAVs. Simulation results show theefficiency of the proposed method in forming optimal coalitions compared toalternative methods.

A Coalition Formation Approach to Coordinated Task Allocation in Heterogeneous UAV Networks