Algorithm 1: Python Interface
1	Input: none
2	Output:UAV_position, UAV_SP
3	Declare:t, UAV_initial_position
4	Check_crazyflie ()
5	Send_crazyflie (UAVs_initial_position)
6	UAV_position = Get_crazyflie_position ()
7	Start (t_test)
8	While t_test <= t do
9	Start (t_control)
10	UAV_position_vec.append (UAV_position)
11	Time_vec.append = t_test
12	New_SP = Modified_vortex_APF (UAV_position (end), t_test) (presented in Algorithm 2)
13	Send_crazyflie (New_SP)
14	UAV_SP.append = New_SP
15	Wait (t_control => 1000 “ms”)
16	end While
17	Land_Crazyflie ()
18	Save UAV_position, UAV_SP, Time_vec