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. 2019 Nov 25;19(23):5164. doi: 10.3390/s19235164
Algorithm 3. Pseudocode for the heuristic strategy of drone task assignment optimization.
Input: VehiRoute[];
Output: VehiSubRoute, droneSubRoute;
for all (task[i] in TaskInfo) do
 Call the CalcVehiSavings(task[i]) function;
 for all (RoutePoint in VehiSubRoutes) do
  Call the CalcdroneStation(t[i],SubRoute) function;
  Call the CalcCost(t[i],SubRoute) function;
 end for
 Call the CalcVehiSavings(task[i]) function;
 Obtain droneSubRoute;
 Call the Update() function;
end for
Obtain VehiSubRoutes;