Algorithm 2. The Structure of the Mission Planning Framework Based on the Adaptive Two-Level Variable Neighborhood Search Algorithm
1:	Set the shaking neighborhoods structures of the first-level $N_k^1$ with $k=1,\dots ,k_{max}$ and the shaking neighborhoods structures of the second-level $N_d^2$ with $d=1,\dots ,d_{max}$. Set the local search neighborhood structures of the first-level $N_l^1$ with $l=1,\dots ,l_{max}$, the local search neighborhood structures of the second-level $N_w^2$ with $w=1,\dots ,w_{max}$. Let $i=0$, $l=1$ and $d=1$.
2:	{Initialization phase}
3:	$s=GenInitialSolution()$ //generate an initial solution
4:	Repeat
5:	$\hspace{1em}${First-Level Adaptive Shaking: Sensor allocation} //first-level
6:	$\hspace{1em}k=AdaptiveShaking\left(N_k^1\right)$//Adaptive select the shaking neighborhood structure, the UAVs, and sensors for shaking
7	$\hspace{1em}{s}_1=FirstLevelShaking\left(s,N_k^1\right)$//generate the shaking solution according to shaking neighborhoods structure$N_k^1$.
8:	$\hspace{1em}${First-Level Local Search Phase: Sensor allocation}
9:	$\hspace{1em}$while $l<l_{max}$
10:	$\hspace{1em} s_2=FistLevelLocalSearch\left(s_1,N_l^1\right)$//perform local search on$s_1$according to local search neighborhoods structure$N_l^1$.
11:	$\hspace{1em}$while$d<d_{max}$//second-level
12:	$\hspace{1em}\hspace{1em}${Second-Level Shaking Phase: Route Planning}
13:	$\hspace{1em}\hspace{1em} s_3=SecondLevelShaking\left(s_2,N_d^2\right)$//generate the shaking solution of the second-level base on the shaking neighborhoods structure$N_d^2$.
14:	$\hspace{1em}\hspace{1em}${Second-Level Local Search Phase: Route Planning}
15:	$\hspace{1em}\hspace{1em}$while$w<w_{max}$
16:	$\hspace{1em}\hspace{1em}\hspace{1em}{s}_4=SecondLevelLocalSearch\left(s_3,N_w^2\right)$//perform local search on$s_3$according to local search neighborhoods structure$N_w^2$.
17:	$\hspace{1em}\hspace{1em}\hspace{1em}$if$f\left(s_4\right)>f\left(s_2\right)$
18:	$\hspace{1em}\hspace{1em}\hspace{1em} s_2=s_4$
19:	$\hspace{1em}\hspace{1em}\hspace{1em} d=1$
20:	$\hspace{1em}\hspace{1em}\hspace{1em}$else
21:	$\hspace{1em}\hspace{1em}\hspace{1em} d=d+1$
22:	$\hspace{1em}\hspace{1em}\hspace{1em}$end if
23:	$\hspace{1em}\hspace{1em}$end while
24:	$\hspace{1em}$end while
25:	$\hspace{1em}${Acceptance decision}
26:	$\hspace{1em}$if$f\left(s_2\right)>f\left(s\right)$or$s_2$is accepted
27:	$\hspace{1em}\hspace{1em}\hspace{1em}s=s_2$
28:	$\hspace{1em}\hspace{1em}\hspace{1em}l=1$
29:	$\hspace{1em}$else
30:	$\hspace{1em}\hspace{1em}\hspace{1em}l=l+1$
31:	$\hspace{1em}$end if
32:	$\hspace{1em}$end while
33:	Until the upper limit $T$ of time or a given number $Iter$ of iterations without improvement is reached