Algorithm 2. Greedy Selection Algorithm

Input: input $CL=\left(C{L}_1,C{L}_2,\dots ,C{L}_l\right)$,$\theta$, $U$, $V$, $B^S$

Output: the set of selected participants, UAVs and buoys ${\mathrm{{\rm X}}}^{*}$   1: for $C{L}_l$ in $CL$ do   2:  for $u_i$,$v_n$,$b^S{}_n$ in $C{L}_l$ do   3:    Calculate all $f$ scores   4:    Sort by descending order   5:    select the max $f$ scores of combination $x^{*}$   6:   end for   7: end for   8:  ${\mathrm{{\rm X}}}^{*}={\mathrm{{\rm X}}}^{*}\cup \left(x^{*}\right)$   9: Return ${\mathrm{{\rm X}}}^{*}$