Algorithm 2: Cluster Head Selection Algorithm

Input: cluster numbers $K$, clusters set $CL=\left\{C{L}_1,C{L}_2,\dots C{L}_i\dots ,C{L}_K\right\}$. Output: cluster head $C{H}_i$, $i=1,2,\dots ,K$ /*Initialization*/ 1: Each UAV node broadcasts a HELLO message to its neighboring set $\phi$. /*Computation*/ 2: for $i=1:$ $K$ 3: for each UAV node$jϵ$ $C{L}_i$ 4: calculate the weight $W_j$ by using Equation (9) 5: end for 6: $CLbest=\underset{j}{argmax}\{W_j\}$ 7: $C{H}_i$ = $CLbest$ 8: broadcast $C{H}_i$ claim 9: end for