中文摘要：

应急条件下多飞艇协同任务分配是一个重要而极具前景的研究课题，对提高飞艇观测效能起着至关重要的作用。针对多飞艇协同任务分配问题，设计了一种基于Agent双向招标的改进合同网协同机制，详细解释了双向招标的方法和标值计算的启发式规则。针对应急观测任务的高时效性特点，建立了一个多目标约束满足优化模型，并提出一种针对批量动态任务的快速分配算法——动态自适应协同任务分配算法 （dynamical flexible collaborative algorithm, DFCA）。大量模拟实验结果表明，该算法能够在很短的时间内获得较好的任务分配方案，具有较高的任务完成率和权值收益率。

英文摘要：

The collaborative task assignment of muhi-airships in emergency is an important and promising problem which is crucial to improve the observing efficiency of airships. In order to solve the issue, an improved contract net mechanism based on the Agent bidirectional auction is proposed. Then the bidirectional auction method and heuristic rule are explained clearly. A multiple objective constraint satisfaction and optimization model is constructed to meet the real-time requirements of emergent observing tasks. Meanwhile, a fast assign- ment algorithm named dynamical flexible collaborative algorithm （DFCA） is proposed, which aims at the abun- dantly dynamical tasks. The result of extensive simulation experiments indicates that DFCA can produce a high- quality task assignment decision in short time and provide high schedulability as well as priority benefit.