Algorithm 1 Central  Controller

Input: N: Number of UAVs. M: Number of tasks. Q: Number of new tasks. $nC$: Number of clusters. $mpS$: Width of the simulation map. $dist$: Task distribution, which can be random, concentrated, or predetermined.

1:Step 1: Initialize the environment and compute the initial offline UAV-task assignment by calling Algorithm 2. $U\leftarrow$ Algorithm 2 ($N,M,Q,nC,mpS,dist$)   2:Step 2: Initiate UAVs’ operations using a parallel loop, where each UAV executes its assigned tasks simultaneously by calling Algorithm 3. Parallel for each $U_i\in U$:      $U_i\leftarrow$ Algorithm 3 ($U_i$)