“…So, the shorter route (green dotted line) is abandoned. The list of tasks to be allocated is TL un = [20, 21,22]. The UAVs participating in task reassignment are [1], [7,16], [], [], [8], [0, 10]], and the leftover task list of UAV formation is TL = [ [13,5,4], [6,15,12], [14], [17,18], [], [], [19,9], [11,3]].…”