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Task assignment of cooperating multi Unmanned Aerial Vehicles (UAVs) is a hot problem recently. Considering the main factors include the attack order of UAV, kill probability, survival probability and attack path, the target assignment model in different stages for multi-UAVs is established. Discrete particle swarm optimization (DPSO) algorithm is introduced to solve the complex task assignment problem. Each particle's position is expressed in two multi-dimension vectors and the vectors evolve in different manner synchronously. The simulation results show that this method is satisfying.