Algorithm 5: Positions Dynamic Switch: Calculate $T_{life}$

Require: $ENERGY>0$

Ensure: $T_{life}$

1: while  $min\left(ENERGY\right)>0$ do

2: update($ENERGY$)

3: if  $ID==max\left(ENERGY\right)$ then

4:  $POWER\Leftarrow \frac{ENERG{Y}_{pre}-ENERGY}{INTERVAL}$

5:  $T_{left}\Leftarrow \frac{sum\left(ENERGY\right)}{sum\left(POWER\right)}$

6:  $j\Leftarrow$ lowest battery drone

7:  if  $(\frac{ENERG{Y}_j}{POWE{R}_{ID}}\le T_{left})$ then

8:   Calculate SwitchMoveCost(ID,j)

9:   Initiate switch protocol

10:   if request accepted then

11:    Inform next highest battery drone

12:    Broadcast $D_j$ has been switched

13:  end if

14:  end if

15: end if

16:  end while

17:  $T_{life}\Leftarrow$ Current time