To solve the problem of task reallocation and path replanning for distributed multiple unmanned aerial vehicles (multi-UAVs) when pop-faults happen in their missions' execution, a mission replanning method is proposed. First, according to the distributed framework, a model of the local mission replanning when pop-up faults happen to multi-UAVs is constructed, considering the communication delay. Then, replanning frameworks for malfunctioning UAVs and healthy UAVs are established respectively. Considering the utilization of space and time in UAVs scheduling and communication topology after faults happenning, a subsystem division rule is presented. In addition, the mapping relationships between the UAVs and the tasks in the subsystems may differ from others', so auction algorithms based on dynamic benefit and consensus rules are proposed respectively. Considering the coupling between task reallocation and path replanning, an estimation about flight route using the RRT* algorithm is introduced in the task reallocation, so that the results will be more reasonable. The simulation results show that, the proposed method can effectively solve the problem of mission replanning when pop-faults happen in the multi-UAVs in real environment.