Group Mobility Model for Complex Multimission Cooperation of UAV Swarm

Algorithm 1

Reference node selection for node

Input: Mobility model parameter: ,

   Neighbour node set: ,

   Task set performed by node ;

Output: Optimal selection:

1. initialize:

2. for do

3.  

4.  

5.  

6.  

7.  if then

8.    Saves the current maximum associated gravity:

9.    Saves the current optimal selection of reference node:

10.  end if

11. end for

12. Optimal selection of reference node.