A Self-Organized Reciprocal Decision Approach for Sensing Coverage with Multi-UAV Swarms

. 2018 Jun 7;18(6):1864. doi: 10.3390/s18061864

Algorithm 2. Lounger strategy.

Input: UAV A maximal velocity

v_{A}^{\max}

, constrains of neighbor UAVs

O R C V_{A | *}^{τ}

Output: The optimal velocity decision

v_{A}^{o p t}

Process 1~13 is same as Algorithm 1
14: if

F N = 0

15: Output

v_{A}^{o p t} = I d l e V e l ()

⊳

Adopt idle velocity.
16: end if
17: return.