Input: Best allocation , Available tasks
  
Output: Relinquished tasks
(1) Number of robots
(2) Sub-tours list
(3) Relinquished task Random number
(4) getSubTours ( )
(5) for   to   do
(6)  getRandomNumber ( )
(7)  removeTask ( , )
(8)  add ( )
(9) end
Algorithm 3: Relinquishing process.