Reorganizing Complex Network to Improve Large-Scale Multiagent Teamwork

Algorithm 1

Coordination decision process.

(1)  ApplicableTasks =[], OwnTasks =[], Holds =[], Messages =[];

(2)  while (true) do

(3)   for  (𝛼∈ agent 𝑎_𝑖 & 𝛼∉ ApplicableTasks) do

(4)    if (Applicable(𝛼)) then

(5)     ApplicableTasks.append(𝛼);

(6)     Messages.append(CreateMessages(𝛼));

(7)    end if

(8)    Messages.append(recvMessages());

(9)   end for

(10)  for (𝑚 ∈ Messages) do

(11)   if (𝑚 is TaskMessages(𝛼)) then

(12)    if (GetCap(𝛼) > 𝑚.threshold) then

(13)     if (𝛼∉ OwnTasks) then

(14)      OwnTasks.append(𝛼);

(15)     end if

(16)    else

(17)     SendToNeighbour(𝑚);

(18)    end if

(19)   else if (𝑚 is ResourceMessages(𝑟)) then

(20)    𝑚.threshold += 𝛿;

(21)    if (GetNeed(𝑟) >𝑚.threshold) then

(22)     if (𝑟∉ Holds) then

(23)      Holds.append(𝑟);

(24)     end if

(25)    else

(26)     𝑚.threshold −= 𝛿;

(27)     SendToNeighbour(𝑚);

(28)    end if

(29)   end if

(30)   CheckExecution(OwnTasks, Holds);

(31)  end for

(32)  for (𝛼∈ OwnTasks) do

(33)   if (𝛼 is complete) then

(34)    OwnTask.remove(𝛼);

(35)    for (𝑟∈ ChkUnneed(OwnTask, Holds)) do

(36)     Hold.remove(𝑟);

(37)     SendToNeighbour(CreateMessages(𝑟));

(38)    end for

(39)   end if

(40)  end for

(41) end while