This application provides a method and apparatus for autonomous auctioning new search tasks in a
drone swarm. The method includes: step 1,
numbering each member of the
drone swarm within the range of 1 to M; step 2, loading the initial task area location
database {D}. j},j=1,…,N;Step 3, Load the
takeoff point
longitude TOLon i Step 4: Load the bidding time threshold THSubmit and the decision time threshold THDecide; Step 5: If a new task region D is received... N+1 If the information is available, then the bid price (Price) will be calculated. i And send it to other
drone members in the drone swarm; Step 6, if the time to enter Step 5 is greater than the bidding time threshold THSubmit, then based on the bids of the local drone and other drone members in the swarm {Price}... j}, j=1,…,M make preliminary decisions, and the preliminary decision results are Result i Send to other drone members in the group; Step 7, for each member i (i = 1, ..., M) in the drone group, if the time to enter step 6 is greater than the decision time threshold THDecide, then based on the preliminary decision results received from the
local machine and other drone members in the group {Result j The final decision is made by considering the groups},j=1,…,M.