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

Algorithm 2

The algorithm for the task agent.

(1)	Initialize and analyze task information;
(2)	Send basic task requirements to M^A;
(3)	Receive candidate UAV agent set ;
(4)	foreachindo
(5)	Send announcement information to;
(6)	Let valid bidding value set BidValue ⟵ NULL;
(7)	Receive bidding value from UAV agents;
(8)	foreachindo
(9)	if bidj > 0 then
(10)	Add bidj into set BidValue;
(11)	if BidValue is not null then
(12)	Select a winner bidder Bidwin based on the selection strategies;
(13)	else
(14)	Reject task;