Algorithm 9 Consensus-Based Bundle Algorithm (CBBA) for Distributed Task Assignment

Input: T: Tasks information, including their start time ($t{s}_j$), end time ($t{e}_j$), duration ($D_j$), and reward ($R_j$). U: UAVs information, including their assigned tasks lists (a), capacity load (L) and velocity (v). Output: U: Updated UAVs’ information.

1:Initialization: For each $U_i\in U$, initialize $a_i\leftarrow \varnothing$, bid list $W_i\leftarrow 0$, and winning UAV list $B_i\leftarrow -1$.  2:while Tasks remain unassigned do  3:    for each $U_i\in U$ do             ▹ Bundle Construction (Task Bidding)  4:        Compute $s_{i,j}$ given in Equation (1) for each $T_j\in T$  5:        Select the task $T_j$ maximizing $s_{i,j}$ while satisfying constraints  6:        if $T_j$ is feasible then  7:           Add $T_j$ to $a_i$, update $W_i\left[j\right]$, and set $B_i\left[j\right]\leftarrow i$  8:        end if  9:    end for  10:    for each $U_i\in U$ do             ▹ Consensus Phase (Conflict Resolution) 11:        Exchange $W_i$ and $B_i$ with neighbors 12:        for each $T_j\in a_i$ do 13:           if another UAV $U_k$ has $W_k\left[j\right]>W_i\left[j\right]$ then 14:               Remove $T_j$ from $a_i$, update $B_i\left[j\right]\leftarrow k$ 15:           end if 16:        end for 17:    end for 18:end while