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Its application in the military domain mainly includes formation manage, path organizing, and mission assignment of unmanned swarms. In a collaborative strike mission, reconnaissance UAVs very first implement an intelligence investigation to detect the position, speed, and technical and tactical indicators of the target. Then, jamming UAVs perform electronic interference on the target while attack UAVs attack the target. Figure 1 shows the situation for autonomous collaboration of unmanned swarms in a strike mission. Unmanned swarm combat places exceptionally high specifications on collaboration among various platforms. At present, collaboration in unmanned swarms is mainly realized by way of centralized control and distributed autonomy. In the complex electromagnetic atmosphere of the battlefield, poor communication and even communication failure are common3. When centralized handle fails, the unmanned swarms will have to respond straight away according to the battlefield predicament to attain self-organization and self-coordination to continue carrying out the planned military actions.