A Dynamic Territorializing Approach for Multiagent Task Allocation

Algorithm 1

Territorializing optimization for .

(1)	function territorialize
(2)	⟵ calculate the center of mass
(3)	⟵ initialize the points
(4)	flag ⟵ false
(5)	for each
(6)	while flag = false do
(7)	⟵ calculate the share received by
(8)	if then
(9)	results ⟵
(10)	flag ⟵ true
(11)	break for
(12)	else
(13)	adjust the respective points in
(14)	end if
(15)	end while
(16)	end for
(17)	return results