Input: Tasks list , Robots list ,
   Distances between tasks , Number
    of Iterations
Output: Best allocation
(1) Best cost
(2) Available tasks
(3) Bidding list
(4) Minimum bid
(5) Current allocation
(6) Current cost
(7) User define percentage
(8)
(9) for   to   do
(10) while   ( )   do
(11)    getBids ( ,
     , )
(12)    getMin ( )
(13)    subTour ( , ,
     )
(14)  end
(15) relinquish ( ,
   ) Algorithm 3
(16) getRandomNumber (1)
(17) if     then
(18)  
(19) else
(20)   if     then
(21)    
(22)  end
(23) end
(24) end
(25) optimize ( ) refer to
Algorithm 1
Algorithm 4: Market-based approach with relinquishing and optimization.