| | Input: AOI and Rc |
| (1) | Begin |
| (2) | Find ()//i = 1, 2, 3, …. number of neighbors |
| (3) | Check for PC = physical constraint |
| (4) | If PC = true |
| (5) | Send (owned ID, CM)//CM = cannot move |
| (6) | Go to (step 48) |
| (7) | End if |
| (8) | If receive (some IDs, CM) |
| (9) | Update (some IDs, CM)//in neighbor’s list |
| (10) | End if |
| (11) | If |
| (12) | Compare (owned ID with IDs) |
| (13) | End if |
| (14) | If owned ID > all IDs |
| (15) | Send (owned ID, distribution admin) to rest of neighbors |
| (16) | Calculate (distance with each neighbor) |
| (17) | If all neighbors’ distances = |
| (18) | End if |
| (19) | If distance < |
| (20) | Send (move away)//to maintain distance |
| (21) | End if |
| (22) | End if |
| (23) | Else |
| (24) | Send (calculate possible movement distance)//to those neighbors whose distance is > |
| (25) | Wait |
| (26) | Receive (possible movement distances of all neighboring nodes) |
| (27) | Calculate (actual distance—possible distance to move)//to find out which node can maintain |
| (28) | Send (adjust, distance to move) |
| (29) | End if |
| (30) | If receive (move away) |
| (31) | Move//to maintain |
| (32) | Else if receive (calculate possible movement distance) |
| (33) | If distribution admin >1 |
| (34) | Send (CM)//to distribution admins |
| (35) | Else |
| (36) | Calculate (possible movement distance)//keeping in mind d and by averaging possible movement distance of each neighboring node |
| (37) | Send (adjustable distance)//to distribution admin |
| (38) | End if |
| (39) | End |
| (40) | Else if receive (adjust, distance to move) |
| (41) | Move//to adjust that |
| (42) | End if |
| (43) | Update all neighboring node distances (di) |
| (44) | If all |
| (45) | Go to (step 36) |
| (46) | End if |
| (47) | Else if all di = Rc/2 |
| (48) | Determine directional matrix = DM |
| (49) | End if |
| (50) | End |
| (51) | Determine DM |
| (52) | If DM = LN//leaf node |
| (53) | Go to (step 66) |
| (54) | Else if DM = IN//intermediate node |
| (55) | Go to (step 64) |
| (56) | Else if DM = CV//CV = cut-vertex |
| (57) | Check availability of four recovery nodes |
| (58) | If availability = false |
| (59) | Go to (step 64) |
| (60) | If availability = true |
| (61) | Set at least four neighboring nodes as recovery nodes |
| (62) | End if |
| (63) | End |
| (64) | Set at least two neighboring nodes as recovery nodes |
| (65) | If availability of two nodes = false |
| (66) | Set at least one neighboring node as recovery node |
| (67) | End if |
| (68) | End |
