Energy-Efficient Task Migration and Path Planning in UAV-Enabled Mobile Edge Computing System

Table 1

Definition of main symbols.

Symbols	Definition
	The set of MDs
	The set of UAVs
	The set of time slots
	The position of UAV u in time slot t
	The position of MD m in time slot t
	The set of MDs in UAV u service range at time slot t
	The set of MDs in UAV u communication range at time slot t
	The set of distances between UAV u and MDs contained in set in time slot t
	The set of distances between UAV u and UAVs contained in set in time slot t
	The channel gain between MD m and UAVs
	The uplink transmission power of MD m to offload tasks to UAV u in time slot t
	The CPU cycle frequency of MD m in time slot t
	The computing resources of UAV u allocate to MD m in time slot t
	The total number of tasks processed by MD m in time slot t
	The total number of tasks that MD m offloaded to UAVs in time slot t
	The dynamic task backlog queue of UAV u in time slot t
	The task processing energy consumption of MD m in time slot t
	The energy consumption for processing offloaded tasks of UAV u in time slot t
	The transmission energy consumption of MD m offloads tasks to UAV u in time slot t
	The task migration energy of UAV u migrates tasks to UAV 1 in time slot t
	The flight energy consumption of UAV u in time slot t
	The total energy consumption of all UAVs in time slot t
	The total energy consumption of the entire system in time slot t