Table 1.

Notations.

Notations	Description
V	$\mathrm{a}\mathrm{set}\mathrm{of}\mathrm{UAVs},V=\{V_1,V_2,\cdots ,V_{N_V}\}$
h	UAV index
Task	$\mathrm{a}\mathrm{set}\mathrm{of}\mathrm{tasks},Task=\{T_1,T_2,\cdots ,T_{N_M}\}$
i, j	task index
rewardi	the reward of task i
$[ErstTim{e}_i,LastTim{e}_i]$	the allowable earliest start time and latest end time of task i
$s_i$	the service time of task i
$t_{ij}$	the travel time from task i to task j
$Max{L}_h,Max{E}_h,Max{N}_h$	flying range, energy capacity and memory capacity of UAV h