Algorithm 2. Broadcast thread for UAV-WSN discovery (pseudo-code).

(1)  define the Broadcast process thread{ (2)  begin the process; (3)  set up broadcast connection; (4)  while (UAV is in survey_ON) do (5)   Wait (time); (6)    prepare the packet data; (7)   send broadcast message; (8)     update last broadcast position; (9)  while end (10)   end the process; (11) }