Algorithm 2: Cluster Formation

Input:${UAV}_i$, i = 1, 2, …$, N, {CH}_j$, j = 1, 2, …, K.

Output: Cluster ${CL}_j$, j = 1, 2, …, K.

1: for each ${UAV}_i$ do

2:   Compute (the distance between the UAV and all CH within its communication range)

3: if the UAV has a minimum distance from ${CH}_j$ then

$4: \mathrm{UAV} \mathrm{joins} \mathrm{the} {CL}_j$

5:   end if

6: end for

$7: \mathrm{Return} {CL}_j$, j = 1, 2, …, K.