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 2 Majority Advice Algorithm for a swarm of m MAVs

1:
Each MAV takes the advice provided for the visited landmark
2:
MAVs exchange information
3:
if there is a majority advice interpretation (for at least $⌈ m / 2 ⌉$ MAVs) then
4:
all MAVs follow this common advice interpretation
5:
else
6:
the MAVs follow their own advice interpretation
7:
end if