Table 2 Figure title and legend

Figure 1

UAV-assisted MEC in IoT

Figure 1 shows an example of a UAV-assisted MEC scenario, containing multiple UAV and multiple GSA

Figure 2

The workflow of the computing and communication modules of a UAV

Figure 2 shows the discrete-time system model containing T time slots, each of which performs offloading and computation

Figure 3

The variation of required time to complete the computing tasks of the IoTDs

Figure 3 shows the variation of the time required for the system to complete all the computing tasks

Figure 4

The variation of energy consumption of the IoTDs

Figure 4 shows the variation of energy consumption of the IoTDs

Figure 5

The profit earned by the UAV for processing the IoTD computing tasks

Figure 5 shows the variation of the profit obtained by the UAV

Figure 6

The distribution of the tasks being processed by the UAV and the IoTDs

Figure 6 shows the change of computing tasks undertaken by the UAV and the IoTDs

Figure 7

The variation of required time to complete the computing tasks of the IoTDs

Figure 7 shows the variation of the time required for the GSA and UAV to complete all the computing tasks of the IoTDs

Figure 8

The variation of energy consumption of the IoTDs

Figure 8 shows the variation of the energy required for the IoTDs to complete all the computing tasks

Figure 9

The profit earned by the UAV for processing the IoTD computing tasks

Figure 9 shows the variation of the profit earned by the UAV

Figure 10

The distribution of the tasks being processed by the UAV and the IoTDs

Figure 10 shows the variation in the task load processed by the UAV and the IoTDs

Figure 11

The trajectory of the UAV with different flight velocities

Figure 11 shows the optimized flight trajectory of the UAV by using Algorithm 4

Figure 12

The overall task completion time of UAV with different flight velocities

Figure 12 shows the task completion time with different flight velocities

Figure 13

The profits of UAVs and GSAs obtained by performing Algorithm 4

Figure 13 shows the profit that each UAV/GSA can achieve when matched to different GSAs/UAVs by using Algorithm 4

Figure 14

The matching results between the UAVs and GSAs by performing Algorithm 5

Figure 14 shows the matching result for the UAVs to the GSAs as well as the flight trajectories of the UAVs in the GSAs obtained by using Algorithm 5