Table 1.

Pseudocodes for motion control of relay UAVs.

Algorithm for motion control of multiple relay UAVs
1.	Predicting the future position of UGVs based on KF.
2.	Obtaining current states of relay UAVs and environmental channel state information .
3.	Each individual UAV calculates its own MST solution .
4.	Communicating the MST solutions within the group, so that the MST having the lowest cost is selected, namely .
5.	Initializing the parameters, i.e.,the current iteration .
6.	Initializing each particle’s position.
7.	Choose the current optimal input and calculate the corresponding objective function .
8.	While
9.	Update each particle’s position by Eq. (48).
10.	Calculate the corresponding objective function .
11.	If,then
12.	,and
13.	End if
14.
15.	End while
16.	Return and execute the first item of .