Fig. 9

TSA-based task-sequence configuration. Colored polylines correspond to UAV\(_0\)/UAV\(_1\)/UAV\(_2\); numbered markers denote task IDs (0–8). The polyline order depicts the execution sequence, showing that TSA schedules UAV\(_0\) for \(\{3,1,8\}\), UAV\(_1\) for \(\{2,5,0,7\}\), and UAV\(_2\) for \(\{6,4\}\).