) Initialize belief , |
for to do time index} |
βfor all do mobility update} |
ββMobility update: |
βββ |
ββββ |
βββββ ββββββ(A-1) |
βend for |
βInitialize , |
βfor to do iteration index; begin cooperative |
ββupdate} |
ββfor all do |
βββfor all do |
ββReceive and convert to a distribution |
ββββ: |
βββββ |
βββββββ β (A-2) |
ββUpdate and broadcast : |
ββββ ββ(A-3) |
βββend for |
ββend for |
βend forββ{end cooperative update} |
end forββ{end current time step} |