Algorithm 2. LEADER ELECTION ALGORITHM

forevery iterationdo

fordroneido

Calculate distance of dronei from other drones;

Update dronei position from GPS;

Update node velocity;

Calculate Bopt value;

if Bopt ≥ gbest then

gbest = Bopt;

end

Elect dronei as leader;

end

foreach dronedo

Calculate drone velocity;

Update drone position;

Update drone $b_{energy}$;

end

end