Algorithm 3 Distance check function to ensure a safe takeoff

functionTake_off_distance_check($droneID$, $depot\_queues$)       if (New outbound mission and $droneID$ first in its corresponding $depot\_queues$) or New return mission then 3:              if no other drones flying near then                     $new\_velocity$← 1               else 6:                     $new\_velocity$← 0           end if 9:          return $new\_velocity$     end function