First of all, you can send any drone to any supply mission, except for "Fragments: Weapons" and "Fragments: Equipment" – those two can only be serviced by the Helper and Squire drones.
Second, some drones can bring back more rewards from certain missions thanks to their special perks.
Types of drones and their perks:
Basic — this drone has only the Speed Boost perk.
Gear+ — this drone has 2 perks: Speed Boost and Consumables. When sent on supply missions to get attacking or defensive consumables, this drone will bring back additional rewards.
Helper — this drone has 2 perks: Speed Boost and Loadout. When sent on supply missions to get equipment fragments, this drone will bring back additional rewards.
Squire — this drone has 2 perks: Speed Boost and Weaponry. When sent on supply missions to get weapon fragments, this drone will bring back additional rewards.
Second, some drones can bring back more rewards from certain missions thanks to their special perks.
Types of drones and their perks:
Basic — this drone has only the Speed Boost perk.
Gear+ — this drone has 2 perks: Speed Boost and Consumables. When sent on supply missions to get attacking or defensive consumables, this drone will bring back additional rewards.
Helper — this drone has 2 perks: Speed Boost and Loadout. When sent on supply missions to get equipment fragments, this drone will bring back additional rewards.
Squire — this drone has 2 perks: Speed Boost and Weaponry. When sent on supply missions to get weapon fragments, this drone will bring back additional rewards.