Autonomous Last-Mile Delivery Based on the Cooperation of Multiple Heterogeneous Unmanned Ground Vehicles

Algorithm 1

Algorithm to assign tasks and plan path.

	Input:
	Output:
(1)	Create with
(2)	Create with
(3)	For, do
(4)	For, do
(5)	For, do
(6)	If, then
(7)
(8)
(9)	End if
(10)	End for
(11)	End for
(12)	End for
(13)	Create swarm: , set
(14)
(15)	For, do
(16)	For, do
(17)
(18)
(19)
(20)	Constrain each element of within ,
(21)
(22)	If, then
(23)
(24)	End if
(25)
(26)	End for
(27)	End for
(28)
(29)	For, do
(30)
(31)
(32)	If, then
(33)
(34)	Else
(35)
(36)	End if
(37)	For, do
(38)
(39)
(40)	Delete the first element from
(41)
(42)	, the number of ’-’ is the same as
(43)
(44)
(45)	If, then
(46)
(47)	Else
(48)
(49)	End if
(50)	End for
(51)	End for
(52)