Algorithm 1 Service-oriented aerial routing in UAANETs

Input: Loc, V, $C{o}^{GAD}=0$, $L^{GAD}$, $D^{GAD}=0$, $B^{id}$;

Process: IGAD (Loc, V, $C{o}^{GAD}=0$, $C^{GAD}$, $D^{GAD}=0$, $B^{id})$   IG sends IGADs periodically.   UAV node $j$ receives IGAD packet.   if received packet based on BADF scheme condition then    Node $j$ computes $C{o}^j$, $L^j$ and $D^j$ according to Equations (12), (13) and (22).    if $(C{o}^{GAD}=0$ || $C{o}^j<C{o}^{GAD})$ then      $C{o}^{GAD}=C{o}^j$    end if    if $(L^j=0||L^j<L^{GAD})$ then      $L^{GAD}=L^k$.    end if     $D^{GAD}=D^{GAD}+D^j$.    Update IGAD packet while replacing, Loc and $V$ with $Lo{c}_j$ and $V_j$, and updating $T^s$.    Update route QoS metrics $\left(Co,L,D\right)$ in routing table of node $j$.    Forward IGAD packet based on BADF scheme else discard IGAD packet; end if Compute $C^r$ for each route $r$ according to Equation (23) from routing table of UAV node $C=\min \left\{C^r\right\}$ Select the route with $C$ Select the IG with $C$ Output: Optimized route and IG