Algorithm 1 Incentivized Ground Route Selection for Covert Multi-hop Forwarding

1:Input: Network topology and basic system parameters $\{P,\alpha ,c,\lambda ,{\delta }_{J_i}\}$;   2:Output: Optimal path ${\mathsf{\Pi }}^{opt}$, optimal configuration of source rewards $R^{\ast }$ and jamming power ${\mathbf{P}}_J^{\ast }$;   3:Evaluate the weight $\mathsf{\Theta }$ of every feasible link l using Equation (41);   4:Run a shortest-path search, e.g., Dijkstra’s algorithm, from the source to the destination and obtain ${\mathsf{\Pi }}^{opt}$;   5:For ${\mathsf{\Pi }}^{opt}$, compute the larger zero of (34) and assign it to $R^{\ast }$;   6:Compute $\zeta =27\lambda /\left(e^3\mathsf{\Delta }\right)-1$;   7:if $\zeta \le 0$ then   8:    Set $R^{\ast }=0$;   9:else 10:    Numerically compute the larger root $R_2>\mathsf{\Delta }/3$ of (34) using a bracketing root-finding method; 11:    if $U_S\left(R_2\right)>0$ then 12:        Set $R^{\ast }=R_2$; 13:    else 14:        Set $R^{\ast }=0$; 15:    end if 16:end if 17:if $R^{\ast }=0$ then 18:    Set $P_{J_i}^{\mathrm{ne}}=0$, $\forall i\in \mathcal{J}$; 19:else 20:    Each jammer sets $P_{J_i}^{\ast }$ according to Equation (30); 21:end if 22:return $\{{\mathsf{\Pi }}^{opt},R^{\ast },{\mathbf{P}}_J^{\ast }\}$;