中文摘要：

针对现有的多无人机协同体系结构存在的不足,将工作流理论引入到多无人机协同中,提出了基于工作流的多无人机协同体系结构。然后建立了协同作战效能指标——协同时间和协同信息量的基本模型,并针对各种多无人机协同体系结构,分析比较了它们的协同时间和协同信息量,证实了基于工作流的多无人机协同体系结构的合理性。结果表明,基于工作流的协同体系结构具有确定的协同时间和协同信息量,适用场合更为广泛。

英文摘要：

To overcome the shortcomings of existing cooperation architectures of multiple unmanned aerial vehicles,work flow theory is introduced and the workflow-based cooperation architecture of multiple unmanned aerial vehicles are proposed. Basic models of the two cooperation efficiency index are established,including cooperation time consumption and cooperation information quantity index are established. Based on the two basic models,all the cooperation architectures are analyzed,which proves the soundness of the workflow-based cooperation architecture of multiple unmanned aerial vehicles. The results show that the workflow-based cooperation architecture has got definite cooperation time consumption and cooperation information quantity,and could be applied to more widely environments.