“…Collaboration of multiple UAVs in complicated environments is also an area of wide scope and great interest, including planning, scheduling, and resource allocation for multiUAV, multitask missions [1][2][3][4], coordinated area surveillance [5,6], collision avoidance [7], etc. New concepts of operation are emerging for UAVs in SEAD mission, as described in [8][9][10][11], and facilitated by the Interactive Warfare Simulation (IWARS) [8], Boeing C4ISim Open Experimentation platform (Boeing OEP) [9], and Flexible Analysis Modeling and Exercise System (FLAMES) software [11]. A number of hardware platforms [12][13][14][15][16] are available for those wishing to validate their ideas experimentally.…”