“… 3 Cellular networks can provide ultra-reliable, low-latency communication services to UAVs over an extensive range. 4 Moreover, the BSs equipped with edge servers (ESs) can provide powerful computing capabilities at the network edge, offering significant potential to overcome the limitations of current UAV swarms. First, UAVs can offload computationally intensive tasks to the BSs for fast edge processing of the sensing data and retrieve the processed results via communication links.…”