Algorithm 1: Iterative algorithm for problem ${\mathcal{P}}_1$

1: Initialization: Set the UAVs’ initial horizontal location ${\mathbf{Q}}^{(\mathbf{0})}$, vertical location ${\mathbf{Z}}^{(\mathbf{0})}$,

task split ratio ${\mathbf{X}}^{(\mathbf{0})}$, bandwidth allocation ${\mathbf{B}}^{(\mathbf{0})}$; Let iteration index r=0.

2: repeat

3: Solve ${\mathcal{P}}_3$ with given $\{{\mathbf{Q}}^{(r)},{\mathbf{Z}}^{(r)},{\mathbf{B}}^{(r)},{\mathbf{X}}^{(r)}\}$, use standard solution method [9]

to find the optimal solution as ${\mathbf{A}}^{(r+1)}$.

4: Solve ${\mathcal{P}}_4$ with known $\{{\mathbf{A}}^{(r+1)},{\mathbf{Z}}^{(r)},{\mathbf{B}}^{(r)},$ ${\mathbf{X}}^{(r)}\}$, use CVX to find the optimal

solution as ${\mathbf{Q}}^{(r+1)}$.

5: Solve ${\mathcal{P}}_5$ with known $\{{\mathbf{A}}^{(r+1)},{\mathbf{Q}}^{(r+1)},{\mathbf{B}}^{(r)},$ ${\mathbf{X}}^{(r)}\}$, use CVX to find the optimal

solution as ${\mathbf{Z}}^{(r+1)}$.

6: Solve ${\mathcal{P}}_6$ with known $\{{\mathbf{A}}^{(r+1)},{\mathbf{Q}}^{(r+1)},{\mathbf{Z}}^{(r+1)},$ ${\mathbf{X}}^{(r)}\}$, use CVX to find the optimal

solution as ${\mathbf{B}}^{(r+1)}$.

7: Solve ${\mathcal{P}}_7$ with known $\{{\mathbf{A}}^{(r+1)},{\mathbf{Q}}^{(r+1)},{\mathbf{Z}}^{(r+1)},$ ${\mathbf{B}}^{(r+1)}\}$, get closed-form solution of

${\mathbf{X}}^{(r+1)}$.

8: Update $r=r+1$

9: Until: $\frac{{\zeta }^{(r)}-{\zeta }^{(r+1)}}{{\zeta }^{(r)}}\le \eta$. The Algorithm is over if the fractional decrease of

the objective value is below a threshold.