tikzset{
desicion/.style={
    diamond,
    draw,
    text width=5em,
    text badly centered,
    inner sep=0pt
},
block/.style={
    rectangle,
    draw,
    text width=10em,
    text centered,
    rounded corners
},
cloud/.style={
    draw,
    ellipse,
    minimum height=2em
},
descr/.style={
    fill=white,
    inner sep=2.5pt
},
connector/.style={
    -latex,
    font=scriptsize
},
rectangle connector/.style={
    connector,
    to path={(tikztostart) -- ++(#1,0pt) tikztonodes |- (tikztotarget) },
    pos=0.5
},
rectangle connector/.default=-2cm,
straight connector/.style={
    connector,
    to path=--(tikztotarget) tikztonodes
}
}



begin{tikzpicture}
matrix (m)[matrix of nodes, column  sep=2cm,row  sep=8mm, align=center, nodes={rectangle,draw, anchor=center} ]
{
    |[block]| {Start}                       &  \
    |[desicion]| {$d^{(i)}_{(n,m)} < 2r$?}  &  \
    |[block]| {Estimate $I_{n,p}^{(i)} rightarrow FBS_m$ }    & \
    |[block]| {Estimate $zeta^{(i*)}$ and $varphi^{(i*)}_{n,p}$}    &   \
    |[desicion]| {$o^{(i+1)}_{(n,m)} > o^{(i)}_{(n,m)}$?}  &  \
    |[block]| {Apply}    &   \
    |[block]| {End}    & \
};
path [>=latex,->] (m-1-1) edge (m-2-1);
path [>=latex,->] (m-2-1) edge (m-3-1);
path [>=latex,->] (m-3-1) edge (m-4-1);
path [>=latex,->] (m-4-1) edge (m-5-1);
path [>=latex,->] (m-5-1) edge (m-6-1);
path [>=latex,->] (m-6-1) edge (m-7-1);
path [>=latex,->] (m-2-2) edge (m-7-2);

end{tikzpicture}