# Improved contract network protocol algorithm based cooperative target allocation of heterogeneous UAV swarm

> Research article (Aerospace Science and Technology, 2021) · cited 93× · AI/ML

**Wikidata**: [openalex:W3198723631](https://www.wikidata.org/wiki/openalex:W3198723631)  
**Source**: https://4ort.xyz/entity/improved-contract-network-protocol-algorithm-based-cooperative-target-allocation-of-heterogeneous-uav-swarm