Flood disasters often disrupt road networks and severely reduce ground accessibility, hindering the timely delivery of emergency supplies. To address this challenge, this study investigates a collaborative routing problem involving multiple vehicles and multiple UAVs under road disruptions and formulates a mixed-integer linear programming model that jointly minimizes mission makespan and priority-weighted response time for critical nodes. The model explicitly captures road feasibility, vehicle speeds affected by flood depth, multi-point UAV sorties, payload-dependent energy consumption, and vehicle–UAV spatiotemporal synchronization. To balance solution quality and scalability, a dual-track solution framework is developed: exact optimization is used for small instances, while a adaptive large neighborhood search algorithm with embedded dynamic programming is designed for larger instances.
