For the Drones behaviors, it contains five functions, "Determine Destination," "Flying Mode," "Flying Execution," "Avoiding Buildings," and "Color Display."
The "Determine Destination" function initially calculates the closest destination for the drone to target.
For the "Flying Mode," the system has a checklist of toggles, such as operating status and battery data, to determine the current moving status of the drone itself. And the drones will change their flying movement according to their status. The charging status toggle is based on a battery counter that will trigger the toggle when the counter exceeds or is reset. The operating status will turn true when it is released and turn to false when it returns to the mothership. Only when both operating statuses and the full battery status are true will the drone start changing the flying mode and switch between searching, landing, and lifting. So after we have the toggles of all flying modes, the drone movements are executed by assigning the direction to the velocity.
Third, "Avoiding Buildings" is an avoid buildings function for crashing and collisions.
Lastly, in "Color Display," the drones will visualize different color schemes depending on the flying modes. When the drone hits the destination, it turns green and keeps searching and flying to the next closet spot while it still has enough battery. After reaching the second destination, the battery capacity is insufficient, and the color will turn red while going back to the mothership for charging.