Execution-Consistent Event-Responsive Truck–UAV Coordination Under Simulated Progressive Road Disruption

Progressively revealed road disruptions can invalidate truck–unmanned aerial vehicle (UAV) relief plans while deliveries and recovery operations are already under way. We develop ER-HLNS-PR, an event-responsive framework that reconciles realized task, vehicle, and material states, preserves active service and recovery commitments, and repairs affected unfinished routes through bounded deterministic search. The evaluation combines five scenario families, controlled comparisons, sensitivity analyses, and execution-invariant audits. In the principal comparison of 20 independent task–road instances with three repetitions per method, ER-HLNS-PR increased time-critical completion by 16.5 percentage points (descriptive 95% paired bootstrap interval: 8.2–25.0) and reduced priority-weighted censored completion time (PWCT) by 2444.2 s relative to a mission-priority-matched adaptive large-neighborhood search baseline; routine completion decreased by 11.5 percentage points. In a separate repair-scope control, suffix-local repair reduced ownership changes, execution rebindings, and repeated reassignment relative to global re-auction, while the completion and PWCT differences spanned zero. Relative to a full-route rolling-horizon comparator, weighted-service, PWCT, and runtime differences were small and their intervals included zero. Overall, the results distinguish two effects: stronger urgent-service performance relative to the mission-priority-matched baseline and lower plan disruption under local repair, alongside an explicit urgent-versus-routine service trade-off.