  An ever increasing number of applications can employ aerial unmanned
vehicles, or so-called drones, to perform different sensing and possibly also
actuation tasks from the air. In some cases, the data that is captured at a
given point has to be processed before moving to the next one. Drones can
exploit nearby edge servers to offload the computation instead of performing it
locally. However, doing this in a naive way can be suboptimal if servers have
limited computing resources and drones have limited energy resources. In this
paper, we propose a protocol and resource reservation scheme for each drone and
edge server to decide, in a dynamic and fully decentralized way, whether to
offload the computation and respectively whether to accept such an offloading
requests, with the objective to evenly reduce the drones' mission times. We
evaluate our approach through extensive simulation experiments, showing that it
can significantly reduce the mission times compared to a no-offloading scenario
by up to 26.2%, while outperforming an offloading schedule that has been
computed offline by up to 7.4% as well as a purely opportunistic approach by up
to 23.9%.
