Table 2.

Notation of event triggering parameters.

Symbol	Implication
$t_k^m$	Latest kth updating instant of the mth UAV
${\kappa }_{\delta \left(t\right)}$	Triggering threshold parameter
$W_{1\delta \left(t\right)},W_{2\delta \left(t\right)}$	Triggering weighting matrices
${\chi }_m(t_k^m{h}_{\delta \left(t\right)}+l_m{h}_{\delta \left(t\right)})$	Single UAV state changes
${\varkappa }_m(t_k^m{h}_{\delta \left(t\right)}+l_m{h}_{\delta \left(t\right)})$	Local neighboring UAVs state changes