A swarm of robots can perform a variety of missions that are time critical, cost sensitive, and too complicated for a single individual to undertake. In this context, the ability to design robust, scalable and flexible collective behaviours, for the coordination of large numbers of robots to complete particular tasks specified by a human operator, is crucial. For human swarm interaction, it is critical for the robots to be able to continuously achieve swarm's consent to perform tasks specified by a human operator in a dynamically changing environment. Furthermore, an appropriate quorum threshold should be defined as a variable determining the system's behaviour, which is beneficial in environments where stable connectivity might be an issue. These challenges therefore justify this research into designing a group decision-making process such as consensus algorithm for managing swarms of flying robots by considering various circumstances including battery limitations of the robots, possible node failures, and utilising appropriate sensory vision distance.