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

Algorithm 3

The algorithm for the UAV agent.

(1)	Initialize and analyze UAV status;
(2)	Acquire parameters of status;
(3)	Report status parameters to the manager agent M^A;
(4)	UagentWaiting();
(5)	if There is a bidding invitation fromthen
(6)	Analyze the task information;
(7)	Calculate bidding value and send value to ;
(8)	if There is an awarding message then
(9)	Add task to UAV task list;
(10)	Update status parameters;
(11)	if Awarded task is a striking task then
(12)	Report remained striking resource to M^A;
(13)	if The UAV encounters an abnormal situation then
(14)	Acquire device ability parameters;
(15)	Report status parameters to M^A;
(16)	Return to UagentWaiting();