Research Article
Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network
Algorithm 1
Bidder agent response to auctioneer in LAAF.
| Algorithm Bidder | | loop | | WAIT-FOR-MESSAGE | | msg GET-MESSAGE | | Messages of unknown type are silently ignored. | | timer SET-TIMER | | while NOT-EXPIRED (timer) | | if MESSAGE-TYPE (msg) = “AUCTION-ANNOUNCEMENT” then | | auction-id, auction-type, auction-data | | PARSE-ANNOUNCEMENT-MESSAGE (timer) | | if MESSAGE-TYPE (msg) = “SINGLE” | | bid CREATE-BID (auction-id, auction-type, auction-data) | | SEND-BID (bid) | | else if MESSAGE-TYPE (msg) = “MULTIPLE” | | NEGOTIATE-BID (bid) | | end if | | else if MESSAGE-TYPE (msg) = “AUCTION-WINNER” then | | auctioneer GET-SENDER (msg) | | auction-id, auction-data PARSE-WON-MESSAGE (msg) | | Note that we acknowledge regardless of whether or not we find the bid. | | SEND-WIN-ACKNOWLEDGEMENT (auctioneer, auction-id) | | bid FIND-BID (msg) | | if bid nil then | | ADD-TASK (auction-data) | | CLOSE-BID (bid) | | end if | | end if | | FREE-MESSAGE (msg) | | end while | | START-SELF-DETERMINATION | | end loop |
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