## 2 Methods
### Optimization Algorithm Design
A multi-UAV collaborative task assignment and routing problem with simultaneous delivery, pick-up, and time windows (MVTARPSDPTW) is constructed. 2. Algorithm: This work proposes a multi-objective, improved brainstorming optimization algorithm based on Pareto dominance (MIBSO) to solve the MVTARPSDPTW problem, and selected DTLZ4, DTLZ5, and DTLZ6 as benchmarks to test the algorithm performance based on the model attributes. From algorithm convergence, solution distribution, and comprehensive performance, GD, the Spacing metric, HV, and IGD are selected to evaluate the algorithm performance. The test results show that MIBSO in this paper performs well in terms of convergence and distribution and is feasible. 3. Application: This paper involves three aspects: location selection of distribution centers, task allocation of drone distribution, and travel planning in the material distribution process, fully covering the main task links of material distribution, considering comprehensive factors. These can solve practical engineering problems in challenging environments. This research finally forms a general-purpose technology scheme for UAV emergency supplies distribution, which can provide scientific reference for rescue tasks in significant disasters. 4. Future work: To consider more diversified distribution scenarios integrating heterogeneous UAVs, heterogeneous goods, demand uncertainty, and multi-task modes. Conceptualization, L.L. and X.Q. ; methodology, X.W. and S.Y. ; software, X.W. ; validation, X.W. and X.Q. ; formal analysis, X.W. and S.Y. ; investigation, L.L. ; resources, S.Y. ; data curation, X.W. and X.Q. ; writing--original draft preparation, X.W. ; writing--review and editing, X.W. and S.Y. ; visualization, X.W. and X.Q. All authors have read and agreed to the published version of the manuscript. This work is supported by Yunnan Fundamental Research Projects (grant NO. 202101 AU070041) and Talent training project (grant NO. KKZ3202065057) of the natural science research foundation of Kunming University of Science and Technology. Not applicable. Data Availability Statement: Data are contained within the paper. The authors declare no conflicts of interest. \begin{table}
\begin{tabular}{c c|c|c|c c||c c|c} \hline \hline \multirow{2}{*}{**Test Function**} & \multicolumn{4}{c}{**GD**} & \multicolumn{4}{c}{**Spacing**} & \multicolumn{2}{c}{**HV**} & \multicolumn{2}{c}{**IGD**} & \multirow{2}{*}{**Superior**} \\ \cline{2-2} \cline{6-9}  & **MIBSO** & **NSGA-II** & **MIBSO** & **NSGA-II** & **MIBSO** & **NSGA-II** & **MIBSO** & **NSGA-II** & **Proportion** \\ \hline
**DTLZ4** & 0.1750 & 0.2691 & 0.5180 & 0.8035 & 1.0000 & 0.4773 & 0.5735 & 0.5983 & 100\% \\
**DTLZ5** & 0.0426 & 0.4380 & 0.1145 & 0.2848 & 0.2354 & 0.8257 & 0.0400 & 0.1401 & 75\% \\
**DTLZ7** & 0.0308 & 0.0127 & 0.3012 & 0.2209 & 0.5981 & 0.2409 & 0.0588 & 0.1638 & 50\% \\
**Superior** & \multirow{2}{*}{66.7\%} & \multirow{2}{*}{66.7\%} & \multirow{2}{*}{66.7\%} & \multirow{2}{*}{66.7\%} & \multirow{2}{*}{100\%} & \multirow{2}{*}{\(\setminus\)} \\
**proportion** & & & & & & & & \\ \hline \hline \end{tabular} Note: Indicators are GD, Spacing, IGD value as small as possible, and HV value as immense as possible. Superior proportion represents the proportion of the number of indicators with better values for MIBSO compared to NSGA-II in the total number. Orange indicates MIBSO is more dominant; green indicates NSGA-II is more prevalent.

\end{table} 
Table 7: The average metric value of each test function run 30 times. ## References

* (1) [PERSON]; [PERSON] IoT and the flying answer to COVID-19. _J. Inf. Syst. Oper. Manag._**2020**, _14_, 162-174. * (2) During the Epidemic, JD's Unmanned Delivery \"Technology to Fight the Epidemic\".