Algorithm 1: Complete Layered Multi-UAV Planning and Processing Procedure

Input: Map $\mathcal{A}$; UAV set $\mathcal{U}$; sensor set $\mathcal{S}$; obstacle set $\mathcal{O}$; sensing radius $R_s$; minimum separation $d_{min}$; battery limits; and GA, RRT-Connect, MEC, Lyapunov, and safety parameters.    Output: Validated UAV trajectories; LOCAL/MEC processing decisions; queue and residual-energy states; AoI values; safety outcomes; and mission-validity metrics. 1 Initialise the UAV states, sensors, obstacles, MEC node, queues, batteries, and simulation parameters; 2 Partition the sensors into balanced UAV service zones and determine $a_{ij}$ subject to (38); 11 Validate all UAV routes against sensing coverage, map boundaries, inflated obstacles, path continuity, and prescribed endpoints; 12 Construct the UAV mission timelines and evaluate continuous-time inter-UAV separation; 16 Identify the first valid entry into each sensing neighbourhood and record the collection events; 29 Perform the final coverage, processing, obstacle-clearance, and continuous-time all-pair safety audits; 30 Compute mission completion time, AoI, energy consumption, queue backlog, LOCAL/MEC rates, dropped-task count, and minimum UAV separation; 31 return the validated trajectories, processing decisions, system states, and final performance metrics;