Research Article
Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network
Algorithm 1
Bidder agent response to auctioneer in LAAF.
Algorithm Bidder | loop | WAIT-FOR-MESSAGE | msg GET-MESSAGE | Messages of unknown type are silently ignored. | timer SET-TIMER | while NOT-EXPIRED (timer) | if MESSAGE-TYPE (msg) = “AUCTION-ANNOUNCEMENT” then | auction-id, auction-type, auction-data | PARSE-ANNOUNCEMENT-MESSAGE (timer) | if MESSAGE-TYPE (msg) = “SINGLE” | bid CREATE-BID (auction-id, auction-type, auction-data) | SEND-BID (bid) | else if MESSAGE-TYPE (msg) = “MULTIPLE” | NEGOTIATE-BID (bid) | end if | else if MESSAGE-TYPE (msg) = “AUCTION-WINNER” then | auctioneer GET-SENDER (msg) | auction-id, auction-data PARSE-WON-MESSAGE (msg) | Note that we acknowledge regardless of whether or not we find the bid. | SEND-WIN-ACKNOWLEDGEMENT (auctioneer, auction-id) | bid FIND-BID (msg) | if bid nil then | ADD-TASK (auction-data) | CLOSE-BID (bid) | end if | end if | FREE-MESSAGE (msg) | end while | START-SELF-DETERMINATION | end loop |
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