The rapid advancement of unmanned aerial vehicles (UAVs) has transformed a wide range of applications, including military operations, disaster response, agricultural monitoring, and infrastructure inspection. Deploying multiple UAVs to work collaboratively offers significant advantages in terms of enhanced coverage, redundancy, and operational efficiency. However, as UAV missions become more complex and operate in dynamic environments, the task assignment problem becomes increasingly challenging. Multi-UAV dynamic task assignment is critical for optimizing mission success. It involves allocating tasks to UAVs in real-time while adapting to unpredictable changes, such as sudden task appearances, UAV failures, and varying mission requirements. A key contribution of this article is that it provides a comprehensive study of state-of-the-art solutions for dynamic task assignment in multi-UAV systems from 2013 to 2024. It also introduces a comparative framework to evaluate algorithms based on metrics such as responsiveness, robustness, and scalability in handling real-world dynamic conditions. Our analysis reveals distinct strengths and limitations across three major approaches: market-based, intelligent optimization, and clustering-based solutions. Market-based solutions excel in distributed coordination and real-time adaptability, but face challenges with communication overhead. Intelligent optimization solutions, including evolutionary and swarm intelligence, provide high flexibility and performance in complex scenarios but require significant computational resources. Clustering-based solutions efficiently group and allocate tasks geographically, reducing overlap and improving efficiency, although they struggle with adaptability in dynamic environments. By identifying these strengths, limitations, and emerging trends, this article not only offers a detailed comparative analysis but also highlights critical research gaps. Specifically, it underscores the need for scalable algorithms that can efficiently handle larger UAV fleets, robust methods to adapt to sudden task changes and UAV failures, and multi-objective optimization frameworks to balance competing goals such as energy efficiency and task completion. These insights serve as a guide for future research and a valuable resource for developing resilient and efficient strategies for multi-UAV dynamic task assignment in complex environments.

In recent times, the progress of machine learning has facilitated the development of decision support systems that exhibit predictive accuracy, surpassing human capabilities in certain scenarios. However, this improvement has come at the cost of increased model complexity, rendering them black-box models that obscure their internal logic from users. These black boxes are primarily designed to optimize predictive accuracy, limiting their applicability in critical domains such as medicine, law, and finance, where both accuracy and interpretability are crucial factors for model acceptance. Despite the growing body of research on interpretability, there remains a significant dearth of evaluation methods for the proposed approaches. This survey aims to shed light on various evaluation methods employed in interpreting models. Two primary procedures are prevalent in the literature: qualitative and quantitative evaluations. Qualitative evaluations rely on human assessments, while quantitative evaluations utilize computational metrics. Human evaluation commonly manifests as either researcher intuition or well-designed experiments. However, this approach is susceptible to human biases and fatigue and cannot adequately compare two models. Consequently, there has been a recent decline in the use of human evaluation, with computational metrics gaining prominence as a more rigorous method for comparing and assessing different approaches. These metrics are designed to serve specific goals, such as fidelity, comprehensibility, or stability. The existing metrics often face challenges when scaling or being applied to different types of model outputs and alternative approaches. Another important factor that needs to be addressed is that while evaluating interpretability methods, their results may not always be entirely accurate. For instance, relying on the drop in probability to assess fidelity can be problematic, particularly when facing the challenge of out-of-distribution data. Furthermore, a fundamental challenge in the interpretability domain is the lack of consensus regarding its definition and requirements. This issue is compounded in the evaluation process and becomes particularly apparent when assessing comprehensibility.

Internet of Things (IoT) networks’ wide range and heterogeneity make them prone to cyberattacks. Most IoT devices have limited resource capabilities (e.g., memory capacity, processing power, and energy consumption) to function as conventional intrusion detection systems (IDSs). Researchers have applied many approaches to lightweight IDSs, including energy-based IDSs, machine learning/deep learning (ML/DL)-based IDSs, and federated learning (FL)-based IDSs. FL has become a promising solution for IDSs in IoT networks because it reduces the overhead in the learning process by engaging IoT devices during the training process. Three FL architectures are used to tackle the IDSs in IoT networks, including centralized (client–server), decentralized (device-to-device), and semi-decentralized. However, none of them has solved the heterogeneity of IoT devices while considering lightweight-ness and performance at the same time. Therefore, we propose a semi-decentralized FL-based model for a lightweight IDS to fit the IoT device capabilities. The proposed model is based on clustering the IoT devices—FL clients—and assigning a cluster head to each cluster that acts on behalf of FL clients. Consequently, the number of IoT devices that communicate with the server is reduced, helping to reduce the communication overhead. Moreover, clustering helps in improving the aggregation process as each cluster sends the average model’s weights to the server for aggregation in one FL round. The distributed denial-of-service (DDoS) attack is the main concern in our IDS model, since it easily occurs in IoT devices with limited resource capabilities. The proposed model is configured with three deep learning techniques—LSTM, BiLSTM, and WGAN—using the CICIoT2023 dataset. The experimental results show that the BiLSTM achieves better performance and is suitable for resource-constrained IoT devices based on model size. We test the pre-trained semi-decentralized FL-based model on three datasets—BoT-IoT, WUSTL-IIoT-2021, and Edge-IIoTset—and the results show that our model has the highest performance in most classes, particularly for DDoS attacks.