One of the main challenges facing researchers in the field of multiple Unmanned Aerial Vehicles (multi-UAVs) Search and Rescue (SAR) missions is how to best distribute between the rescue and search tasks to fulfill the urgent need of finding and rescuing victims. The critical nature of the mission, incomplete situational awareness of the environment and the constrained timeframe necessitate adaptive control and swift elasticity in UAV allocation between the search and rescue tasks. This paper introduces a bio-inspired algorithm for task allocation in multi-UAV search and rescue missions based on locust behavior. The locust species was chosen as it represents an extreme example of adaptive control and high plasticity in behavior to respond to internal and external stimulus. To evaluate the proposed algorithm, we are designing a strictly controlled experimental framework, to prove the potential role of the proposed algorithm in such missions by providing a high net throughput and an efficient communication scheme.