On-Demanding Information Acquisition in Multi-UAV-Assisted Sensor Network: A Satisfaction-Driven Perspective

Algorithm 1 MPCGA for multi-UAV task assignment.

	Input:, , , , , population size , population Number , maximum iteration times .
Output: the optimal feasible solution .
(1)	Calculate and , respectively
(2)	Population initialization
(3)	for to do
(4)	the task strategy represented by the first individual in the -th population;
(5)	end
(6)	;
(7)	;
(8)	whiledo
(9)	for to do
(10)	for to do
(11)	Calculate and achieved based on the task strategy that is represented by the -th individual;
(12)	Calculate the fitness of through ;
(13)	Evolutionary operation: selection, crossover, and mutation;
(14)	end
(15)	Calculate the fitness of each individual in the current population;
(16)	Update ;
(17)	end
(18)	Update ;
(19)	;
(20)	end
(21)	;
(22)	Return.