/*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.