Table 2.

Self-Organizing distributed algorithms.

Ref.	Performed Function	Technique Deployed
[66]	Deployed to perform distributed cooperative search in Multi-UAV system	Implements the distributed decision making based on receding horizon techniques
[67]	Resolve slot access problem for neighbor UAV swarm network cooperation	Implements a collision discovery method to ensure slot access is not delayed by topology information exchanges
[68]	Implements self-organized collision avoidance in autonomous UAVs	Algorithm Compute’s safe reaction distance on which UAVs begin collision avoidance movement
[69]	Tackles sensing coverage constraints in multi-UAV swarm operations	Reciprocal decision-based approach performed between neighbor UAVs to reduce trajectory oscillations
[70]	Provides formation control for UAV and Mobile Robots communication networks	Distributed asymmetric control to implement formation control based on ‘mergeable nervous systems’ approach
[71]	Plays the role of implementing distributed control laws in swarm indexing and position-free density control	Pseudo-localization method used to localize agents to a new coordination frame with distributed control policies for desired coverage extensions
[72]	Solves limitations in transmission extensions in UAV wireless networks	Deploys relay selection techniques to improve coverage transmission constraints
[73]	Provides solution for slot access transmission problem in UAV Swarms	Makes use of game model as collision detection method to derive feedback in a common control channel for access slots
[74]	Performs flock distribution for UAVs to fly and coordinate as a unit	UAVs coordinates without a leader and on constant basis broadcast and as well receive movement information to share their common goal
[75]	Deployed to perform formation control in multi-UAV system	Formulates formation solution based on circle and arbitrary polygon formations techniques