Fig. 1From: Offline and online task allocation algorithms for multiple UAVs in wireless sensor networksAn example of the simulation scenario. UAV1: the flight route of UAV 1. UAV2: the flight route of UAV 2. UAV3: the flight route of UAV 3. UAV4: the flight route of UAV 4. Threat zone: the cylindrical meteorological threat zoneBack to article page