Algorithm 3: WLVM.
	Data: x, y, leaderStart, leaderTarget
1	Initialize parameters
	// $\phantom{(}$n - the number of particles
2	$n\leftarrow size(x,2)+1$
3	$dt\leftarrow 1$
4	$change\leftarrow 1$
5	$x\leftarrow \left[\begin{array}{cc}x& leaderStar{t}_x\end{array}\right]$
6	$y\leftarrow \left[\begin{array}{cc}y& leaderStar{t}_y\end{array}\right]$
7	$theta\leftarrow zeros(1,n)$
8	for $i\leftarrow 1$ to n do
9			$theta\left(i\right)\leftarrow leaderStar{t}_{theta}$
10	end
11	while change > 0 do
12			$change\leftarrow change-1$
13			for each changed swarm do
					// $\phantom{(}$getting the positions and angles for the virtual leader
14					$[LeaderPos,LeaderAngle]\leftarrow HybridAstar$
15					for $time\leftarrow 1$ to $tim{e}_{max}$ do
16							Calculate averageTheta
17							$x\leftarrow x+vel\ast cos\left(theta\right)\ast dt$
18							$y\leftarrow y+vel\ast sin\left(theta\right)\ast dt$
19							$theta\leftarrow w1\ast averageTheta+w2\ast leaderAngle\left(time\right)+noise$
20							Smoothen path
21							Deadlock and collision avoidance
22					end
23					Segment delay
24			end
25			Swarm evaluation
26			if swarm changes then
27					$change\leftarrow change+1$
28			end
29	end