NECTAR-An Agent-Based Dynamic Task Allocation Algorithm in the UAV Swarm

Algorithm 1

The algorithm for the manager agent.

(1)	Initialize and let UAV agent set U^A ⟵ NULL;
(2)	U^A ⟵ existing UAV agents;
(3)	Waiting( );
(4)	if There is a new request fromthen
(5)	Let  ⟵ NULL;
(6)	foreachin U^Ado
(7)	if Φ(ti) and ≠ striking then
(8)	Add into ;
(9)	else if Φ(ti) and rsrj > 0 then
(10)	Add into ;
(11)	Send to
(12)	else if There is a new report fromthen
(13)	if is not in U^Athen
(14)	Add into U^A;
(15)	Update related status of in U^A;
(16)	Return to Wainting( );