Algorithm 3. CLUSTER FORMATION

for i: 1 to N

j = i;

while(j > 1 &&$b_{energy}$ (j − 1) >$b_{energy}$ (j))

swap($b_{energy}$ (j), $b_{energy}$ (j − 1))

swap(lat(j), lat(j − 1))

swap(long(j), long(j − 1))

swap(alt(j), alt(j − 1))

j = j − 1;

end

end

for all drones n :

q = n/4;

h = n/2;

hq = h+q;

arr1 = arr(1:q);

arr2 = arr(q + 1:h);

arr3 = arr(h + 1,hq);

arr4 = arr(hq + 1,n);

optarr1[arr1 ][arr4 ];

optarr2[arr2] [arr3 ];

end

for each cluster do

fordronekdo

Calculate distance of dronek from other drones;

Update dronek position ;

Calculate $B_{opt}$ value;

if$B_{opt}$ ≥ gbest then

gbest = $B_{opt}$;

end

end

Elect dronek as leader;

end