Algorithm 1 Intelligent Sensor Grouping Algorithm Based on Coalition Game Theory under Fixed Power Constraints

Input: $\mathcal{N}$, ${\mathcal{G}}^0$, $\mathcal{I}$, $h_i^g$, $p_i^g$, $n\in \mathcal{N}$, $i\in \mathcal{I}$, $g\in {\mathcal{G}}^0$. Output: Optimal grouping ${\mathcal{G}}_{fin}$. Initialization: $t=1$, $p_i^g=p_{\max }$, ${\mathcal{U}}_{ini}={\mathcal{U}}_i^g$, ${\mathcal{G}}^0={\mathcal{G}}_{ini}$, $\forall i\in \mathcal{I}$, $g\in {\mathcal{G}}^0$. 1:while ${\mathcal{G}}^t$ does not converge to Nash-stable partition $G_{fin}$ do 2:   Select ${\mathcal{U}}_i^g\in G_g$ and ${\mathcal{U}}_j^{g^{\prime }}\in G_{g^{\prime }}$, where $g\ne g^{\prime }$, $i\in \mathcal{I}$, $j\in \mathcal{I}$ 3:   Define ${\mathcal{G}}^{\prime }=\left({\mathcal{G}}^t\backslash \{G_{g^{\prime }},G_g\}\right)\cup \{G_{g^{\prime }}\backslash \left\{{\mathcal{U}}_i^g\right\}\cup \left\{{\mathcal{U}}_j^{g^{\prime }}\right\},G_g\backslash \left\{{\mathcal{U}}_j^{g^{\prime }}\right\}\cup \left\{{\mathcal{U}}_i^{g^{\prime }}\right\}\}$ 4:   Calculate $\mathbb{E}\left(G_m\right),\mathbb{E}\left(G_{m^{\prime }}\right)$ by Problem 4 5:   if $\mathsf{\Gamma }\left\{{\mathcal{G}}^{\prime }\right\}>\mathsf{\Gamma }\left\{{\mathcal{G}}^t\right\}$ then 6:     Update ${\mathcal{G}}^{t+1}={\mathcal{G}}^{\prime }$ 7:     Update $t=t+1$ 8:   end if 9:end while