The type of pseudocode I’ve most commonly seen is loosely based on ALGOL, sometimes falling back to natural language or algebraic notation.
For example, compare this sample (from Wikipedia) of Algol-60:
BEGIN
INTEGER p, q;
y := 0; i := k := 1;
for p := 1 step 1 until n do
for q := 1 step 1 until m do
if abs(a[p, q]) > y then
begin y := abs(a[p, q]);
i := p; k := q
end
END Absmax
With this pseudocode from the second paper I checked at random:
Notation: The flight corridor ℬ; global guide path ;
Initial and goal position: 0, g; local guide point h
Input: , 0, g
Output: ℬ
2 Initialize ℬcur = GenerateOneSphere(0);
3 ℬ.PushBack(ℬcur);
4 while True do
5 h = GetForwardPointOnPath(, ℬcur);
6 ℬcur = BatchSample(h, ℬcur);
7 ℬ.PushBack(ℬcur);
8 if g ∈ ℬcur then
9 break;
10 end
11 end
12 WaypointAndTimeInitialization(ℬ);
This doesn’t quite match the formatting of the original (Algorithm 1 on page 4), such as the syntax highlighting, and it introduces mathematical notation such as ∈ that very few programming languages support (Haskell being one that can), but you can see the similarities.
In particular, it retains the semicolons and end statements of ALGOL, even though only parsers that ignore whitespace need them, and they are completely redundant in pseudocode written for human eyes. This listing does not use the := assignment operator, but I have seen many that do. Because = sometimes means assignment, and sometimes a test for equality, you need to be careful to be unambiguous. This is likely one reason for the use of the left arrow (one of whose most influential users was Donald E. Knuth).