Algorithm 3: Ferry nodes for global information collection and distribution.

Input: Predefined trajectory, UAV status (position and load), and control packets.

Output: Collected global information (position and load from all UAVs) and distributed global information to neighbouring UAVs.

# Initialize ferry nodes and begin traversal

1: for each ferry node do:

# Traverse network along the predefined trajectory 2:  while ferry node is operational:

3:     Move ferry node along trajectory # Collect information from UAVs within communication range

$4\text{:} \hspace{1em}\hspace{1em}\hspace{1em}\mathrm{for} \mathrm{each} \mathrm{UAV} j$$\mathrm{within} \mathrm{ferry} \mathrm{node}’\mathrm{s} \mathrm{communication} \mathrm{range} \mathrm{do}\text{:}$ $\# \mathrm{Request} \mathrm{global} \mathrm{information} \mathrm{from} \mathrm{UAV} j$

$5\text{:} \hspace{1em}\hspace{1em} \hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em}\mathrm{Send} \mathrm{control} \mathrm{packet} (\mathrm{global}\_\mathrm{info})$ $\# \mathrm{UAV} j$ responds with its status information

$6\text{:} \hspace{1em}\hspace{1em} \hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em}\mathrm{Receive} \mathrm{info} (\mathrm{Position} j$$\mathrm{and} \mathrm{load} j$$) \mathrm{from} \mathrm{UAV} j$ # Aggregate received information

$7\text{:} \hspace{1em}\hspace{1em} \hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em}\mathrm{Store} \mathrm{global} \mathrm{info} (\mathrm{Position} j$$, \mathrm{load} j$) # Distribute collected global information to nearby UAVs 8:          for each UAV neighbor within communication range do:

9:            Send global info (UAV neighbor and global info) # Perform levy flight exploration to cover the network area 10:             Execute levy flight (ferry node) 11:        end for 12:     end for 13:   end while 14: end for