Table 2: Parameters related to the processing of combinations and drones in the scheduling algorithm.

Parameter

Description

Pair of a drone and a service. A pair is used to describe the individual analysis of the execution of a service running on a drone

Total number of pairs of drones and services

Combination of a set of drones to run a set of services. A combination of drones and services, which is commonly referred to as a combination, is composed of different pairs of drones and services

Set of all possible combinations of drones and services

Total number of all possible combinations. This number is given by (5)

Set of valid combinations of drones and services. The is a subset of

Total number of valid combinations. This number is given by (6)

Sorted list of the identifiers of the analyzed combinations. To obtain this list, the combinations are sorted in descending order according to the reached

Set of drones whose battery must be replaced

Set of drones that have neither been used nor allocated in the system

Set of drones whose battery has been replaced. These drones can be used for a new allocation process

Total number of drones that are available in the system. This number is given by (10)