| | Input: distances of neighbouring nodes |
| (1) | IF (node, A, detects the neighbour node, F, had been failed) |
| (2) | Routing table updated (information about failed node will be deleted) |
| (3) | IF F = leaf node |
| (4) | Do not move |
| (5) | Else |
| (6) | On-board energy level check |
| (7) | IF (energy is sufficient) |
| (8) | Calculate the area of the overlapped coverage |
| (9) | Broadcast “Temporary Relocation” MSG to neighbours |
| (10) | move to (F) |
| (11) | END IF |
| (12) | ELSE IF (the node, A, receives “Temporary Relocation”) |
| (13) | Search (new route) |
| (14) | IF new route available |
| (15) | Transmit data to a new path |
| (16) | IF (new route undiscovered) |
| (17) | Buffer the Data |
| (18) | END IF |
| (19) | ELSE IF node A receives (“Back to original position”) |
| (20) | IF (data is buffered) |
| (21) | Send data using “reallocated back node” |
| (22) | END IF |
| (23) | END IF |
| | Temporarily Relocation to (F) |
| (24) | Step towards F |
| (25) | IF (reached F) |
| (26) | Broadcast “Will manage recovery” message |
| (27) | Coordinator = 1 |
| (28) | END IF |
| (29) | IF (received “Will manage recovery” from node j) |
| (30) | IF (ID ≥ j) Coordinator = 0 |
| (31) | Stop moving |
| (32) | Transmit relevant data to the coordinator |
| (33) | Receive recovery schedule |
| (34) | IF (first node not on schedule) |
| (35) | Relocate back to orign () |
| (36) | END IF |
| (37) | IF Coordinator = 1 |
| (38) | From all concerned nodes collect significant information |
| (39) | Form ranked list and recovery schedule |
| (40) | Broadcast recovery schedule |
| (41) | IF (not the first node on schedule) |
| (42) | Relocate back to self () |
| (43) | END IF |
| (44) | ELSE IF |
| (45) | Relocate to (F) |
| (46) | END IF |
| | Another neighbour node failed during the recovery process |
| (47) | IF (node, A, detects the neighbour node, J, had been failed) |
| (48) | Routing table updated |
| (49) | On-board energy level check |
| (50) | IF (energy is sufficient) |
| (51) | Compare (distance F with distance J)//distance F = distance b/w A and F, distance J = distance b/w A and J |
| (52) | IF distance F < distance J |
| (53) | Do not move to J |
| (54) | IF distance F > distance J |
| (55) | Broadcast “Going to save J” MSG to recovery nodes |
| (56) | move to (J) |
| (57) | Go to (step 5)//replace F with J |
| (58) | IF receive (Going to save J) |
| (59) | Update list |
| (60) | END IF |
