To meet the efficiency and economy requirements of unmanned aerial vehicle (UAV) inspection for large watershed, long-distance and multi-measurement-point reservoirs, this paper focuses on the optimal allocation problem of heterogeneous UAV swarms for reservoir inspection with task decomposition. Firstly, the four decomposable dimensions of reservoir inspection tasks (spatial decomposition, time decomposition, measurement point decomposition, and data accuracy decomposition) are clarified, and the performance metrics and constraints of heterogeneous UAV swarms are defined. Secondly, inspection success models and inspection cost models are constructed to form a dual-objective optimization mod... More >