Algorithm 1.

The Discrete PSO Algorithm for DA Model of Task Allocation (DPSO-DA).

Step 1: Initialize population; Step 2: Calculate the fitness value; Step 3: Update the particles’ position according to Equation (16); Step 4: Update the local best value; Step 5: Update the global best value; Step 6: For each particle, execute the mutation operator on this particle if its diversity is less than the threshold; Step 7: Execute the mutation operator on the all particles if the population diversity D is less than the threshold D0; Step 8: If the termination conditions are satisfied, then the algorithm terminates, otherwise go to Step 2.