The Scientific World Journal

Research Article

Cooperative Scheduling of Imaging Observation Tasks for High-Altitude Airships Based on Propagation Algorithm

Algorithm 2

Pseudocode of KNSA algorithm.
01: for     to     do
02:   0; ; /*Initialization*/
03:   ; 0; 0;
03:  for  each task in sequence  do
04:    ; /*Search the next key node */
05:   if   +   then/* is a key node */
06:     max( + ;
07:     ;
08:     ;
09:    Add to the key node set ;
10:   else
11:   Reject ; /* is a invalid task, and it can not been executed */
12:   end if
13:  end for
14:  for  each task in sequence  do
15:   Delete from , and set ;
16:    if     then
17:    Select the first task in , and set ;
18:   end if
19:  end for
20: end for