BP Network Control for Resource Allocation and QoS Ensurance in UAV Cloud

Algorithm 2

Algorithm of solving SOP by PSO.

(1) , initialize the location vector for swarms and their speed , . Let

(2) For , generate two random vectors in the range of [0,1] with uniform distribution.

(3) For , if , ; else, .

(4) If make , let , ; else, .

(5) If or , stop the iteration; else, continue the loop.

(6) , go to step 2.