sketch.txt

3 states:
    forward:
        fly straight with a constante velocity as long as they are forced to enter into 
        another states
        CODE:
            if counter = cf AND state = coherence
                THEN
                    is visible(target) THEN
                        offset =  activeSensor.direction
                    else
                        offset = 0
                    end
                    turnAngle =  offset + rand(-pi/2, pi/2)
                    state =  forward
    coherence:
        If the required connection with at least alpha neighbors is lost (i.e N < alpha) 
        MAV, turns and flies back until the connection is restored
        CODE:
            if state = forward AND
                neighbors < prevNeighbors AND
                neighbors < alpha THEN
                    turnAngle = -prevNeighbors
                    lostNeighbors = prevNeighbors
                    counter = 0
                    state = coherence
    avoidance:
        If an MAV gets closer to another MAV/MAVs or an abstacle than a given threshold 
        and an evasive manuever has to be performed that controls the MAV in the opposite 
        direction to avoid the colision