make the below code more complex, if possible add reinforcement learning for tghe follower position accuracy
import time
import numpy as np
from pymavlink import mavutil
from multiprocessing import Process, Manager

class Drone:
    def __init__(self, sysid):
        self.sysid = sysid
        self.current_pos = np.zeros(3)

class SwarmDroneController:
    def __init__(self, master_sysid, follower_sysids):
        self.master = Drone(master_sysid)
        self.followers = [Drone(sysid) for sysid in follower_sysids]
        self.connection = mavutil.mavlink_connection('/dev/ttyUSB0')
        self.connection.wait_heartbeat()
        self.current_ned = np.zeros(3)
        self.waypoints = []
        self.distance_map = Manager().dict()  # for swarm communication and distance to master

    def set_mode(self, drone, mode):
        self.connection.mav.set_mode_send(drone.sysid, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, mode)
        time.sleep(1)

    def arm_and_takeoff(self, drone, altitude):
        self.connection.mav.command_long_send(
            drone.sysid, mavutil.mavlink.MAV_COMP_ID_SYSTEM_CONTROL,
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 0, 1, 0, 0, 0, 0, 0, 0)
        time.sleep(1)
        self.connection.mav.command_long_send(
            drone.sysid, mavutil.mavlink.MAV_COMP_ID_SYSTEM_CONTROL,
            mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, altitude)
        time.sleep(5)

    def add_waypoint(self, waypoint):
        self.waypoints.append(waypoint)

    def send_position_target(self, drone, ned_pos):
        self.connection.mav.set_position_target_local_ned_send(
            0, drone.sysid, 0, mavutil.mavlink.MAV_FRAME_LOCAL_NED,
            mavutil.mavlink.POS_TARGET_TYPE_LOCATION | mavutil.mavlink.POS_TARGET_TYPE_VELOCITY,
            ned_pos[0], ned_pos[1], ned_pos[2], 0, 0, 0, 0, 0, 0)
        time.sleep(0.1)

    def goto_next_waypoint(self):
        if len(self.waypoints) == 0:
            return False

        next_global_waypoint = self.waypoints.pop(0)
        self.send_position_target(self.master, self.current_ned + next_global_waypoint)

        return True

    def formation_follow_master(self, formation_coords):
        def follow_position(follower, target_pos):
            while True:
                follower.current_pos = target_pos
                self.send_position_target(follower, self.current_ned + target_pos)
                time.sleep(0.1)

        processes = []
        for i, follower in enumerate(self.followers):
            target_coords = np.array(self.master.current_pos) + formation_coords[i]
            process = Process(target=follow_position, args=(follower, target_coords))
            processes.append(process)
            process.start()

        try:
            while self.goto_next_waypoint():
                for i, process in enumerate(processes):
                    process.join(timeout=1)
        finally:
            for process in processes:
                process.terminate()

    def update_local_positions(self):
        local_position = self.connection.messages.get("LOCAL_POSITION_NED", None)
        if local_position is not None:
            self.master.current_pos = np.array([local_position.x, local_position.y, local_position.z])

# Usage
formation_shape = np.array([[-5, 0, 0], [5, 0, 0], [0, 5, 0], [0, -5, 0]])
controller = SwarmDroneController(2, [3, 4, 5, 6])

# Arm and takeoff both drones
controller.set_mode(controller.master, 4)  # Set mode to Guided
for follower in controller.followers:
    controller.set_mode(follower, 4)

controller.arm_and_takeoff(controller.master, 10)
for follower in controller.followers:
    controller.arm_and_takeoff(follower, 10)

# Add waypoints
controller.add_waypoint(np.array([10.0, 10.0, -10.0]))
controller.add_waypoint(np.array([20.0, 20.0, -20.0]))

# Send master drone to waypoints, followers follow in formation
controller.formation_follow_master(formation_shape)

# After the operation has completed, set mode to RTL and disarm
controller.set_mode(controller.master, 6)  # Set mode to RTL
for follower in controller.followers:
    controller.set_mode(follower, 6)

controller.arm_and_takeoff(controller.master, 0)
for follower in controller.followers:
    controller.arm_and_takeoff(follower, 0)

controller.close()