Algorithm 1. BOLD ALGORITHM

Let drone d initially be the leader with fitness valuegbest.

foreach dronedo

Initialize each drone with its position and $b_{energy}$;

end

Divide dronei….k into smaller groups;

for each group do

fordronekdo

Calculate the distance of dronek from other drones;

Update dronek position;

Calculate $B_{opt}$ value;

if$B_{opt}$ ≥ gbest then

gbest = $B_{opt}$;

end

Elect dronek as leader;

end

end

foreach dronedo

Calculate drone velocity;

Update drone position;

Update drone $b_{energy}$ using Equation (17);

end