/*  Stage  1. Linear Expansion Algorithm (LE)        */
/*  For a leader                    */
if  Priority == “ 𝐿 ” then
 repeat
  Search for RSSI of AP “ 𝐹 1 ”;
 until “ 𝐹 1 ” RSSI found
 if “ 𝐹 1 ” RSSI  ≤  assigned RSSI threshold limit then
  Stop driving;
 else
  Drive straight;
Algorithm 1: The LE algorithm for a leader.