Unmanned Aerial Vehicles (UAV) have become more popular due to their wide array of applications, such as monitoring tasks. However, the drone’s power and the environment constrain this task. Reducing the drone’s time and distance can mitigate the power issue. A decentralized scheduling method can reduce the impact on the environment. The chaos-based bidding consensus method demonstrates a balanced approach to task scheduling, reducing the total time required and the total distance traveled. Compared to the greedy method, the chaos-based bidding method requires 16.95% less time and 9.69% less distance for the highest requirement. This approach also comes with fewer overloading tasks for a single agent, making this method a good choice for a resource-critical environment. Coupled with the decentralized nature of the chaos-based bidding method, the proposed method can be used for drone task scheduling, especially in a limited network and resource-critical environments like a disaster-affected area or an underdeveloped rural area.