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. 2016 Oct 13;16(10):1696. doi: 10.3390/s16101696
Algorithm 2: Frame Processing Logic, UAV Mom
For (true) do:
  if (frame receive from T1-2) do:
       if (frame_target_id == id_mom) do:
         save frame for local processing.
       else if (frame_target_id == id_son) do:
         send frame out from T2-1.
       end
  else if (frame received from T2-1) do:
       if (frame_target_id == id_mom) do:
         save frame for local processing.
       else if (frame_target_id == id_GCS) do:
         send frame out from T1-1.
       end
  end
end