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One of the major research topics in unmanned aerial vehicle (UAV) collaborative control systems is the problem of multi-UAV target assignment and path planning (MUTAPP). It is a complicated optimization problem in which target assignment and path planning are solved separately. However, recalculation of the optimal results is too slow for real-time operations in dynamic environments because of the large number of calculations required. In this paper, we propose an artificial intelligence methoddoi:10.1109/access.2019.2943253 fatcat:42ep4d27avab5lcl2vmleimaaa