Algorithm 1. Random Probability Exploration of the Optimal Velocity $v_A^{opt}$.

Input: UAV $A$ maximal velocity $v_A^{\max }$, constrains of neighbor UAVs $ORC{V}_{A|*}^{\tau }$ Output: The optimal velocity decision $v_A^{opt}$ 1: Computational Rectangle Domain: $RandVelRange=Square(\Vert v_A^{\max }\Vert )$ 2: Random Velocity: $v_{rand}=RV(RandVelRange)$ 3: Set the Accuracy: $AN=1000$ 4: Initialization: $N=1$, $FN=0$, $FD=\mathsf{\Phi }$ 5: while $N\le AN$ do 6:  if $\Vert v_{rand}\Vert \le \Vert v_A^{\max }\Vert$ then 7:   if $v_{rand}\subset ORC{V}_{A|*}^{\tau }$ then 8:    $v_{rand}\to FD$ 9:    $FN=FN+1$ 10:  end if 11: end if 12: $N=N+1$ 13: end while 14: Output $v_A^{opt}=AVE(FD)$  $⊳$ The optimal velocity has been explored. 15: return.