GPS-Free, Error Tolerant Path Planning for Swarms of Micro Aerial Vehicles with Quality Amplification

. 2021 Jul 10;21(14):4731. doi: 10.3390/s21144731

Algorithm 1 Majority Recognition Algorithm for a swarm of m MAVs

1:
Each MAV performs landmark recognition
2:
MAVs exchange information
3:
if there is a landmark common to the majority (of at least $⌈ m / 2 ⌉$ MAVs) then
4:
the MAV swarm adopts this common landmark
5:
else
6:
every MAV adopts its own recognized landmark
7:
end if