Algorithm 1 Timed Protocol for Cooperation with Disagreement Correction (code for $p_i$)

1: Constants: 2:$members=\{p_1,p_2,\dots ,p_n\}$: the system vehicles. 3:⊥: the unavailability symbol denotes a void entry, and the default return value. 4:$S_{bound}$: the maximum offset among vehicles. 5:D: the maximum time that a message time can live in the network. 6:$R_{length}>2S_{bound}+D$: round size 7: Variables: 8:$r\leftarrow 0$: Current communication round. 9:$data\left[n\right]=\{\dots \}$: Application data where $data\left[k\right]$ is a set that consists of the current operative mode and the state of vehicle k at round r from member $p_k$. 10: Interface 11:$gossipSend\left(\right)$: Disseminate information to the members. 12:$gossipReceive\left(\right)$: Dispatch arriving messages. 13:$readState\left(\right)$: Return the state of the vehicle. 14:$pathPlanning\left(\right)$: Computes the path according to the operational mode and the state of the system. 15: Upon $gossipReceive(j,<r_j,dat{a}_j>)$ 16: if $(r=r_j)$ then 17: for all $p_k\in members$ do 18:  if ($dat{a}_j\left[k\right]\ne \perp$ and $i\ne k$) or ($k=j$) then 19:   $data\left[k\right]\leftarrow dat{a}_j\left[k\right]$ 20:  end if 21: end for 22: end if 23: loop 24: if $clock\left(\right)\in (R_{length}·r+S_{bound},R_{length}·(r+1)-(S_{bound}+D))$ then 25:  $gossipSend(i,<r,data>)$ 26: end if 27: if $r<clock\left(\right)÷R_{length}$ then 28:  $(s,r)\leftarrow (data,clock\left(\right)÷R_{length})$ 29:  $data\leftarrow \{\perp ,\dots \}$ 30:  $mode\leftarrow autonomous$ 31:  if $s\left[i\right].mode=s\left[j\right].mode\forall p_j\in members$ then 32:   $mode\leftarrow cooperative$ 33:  end if 34:  $data\left[i\right]\leftarrow \{mode,readState(\left)\right\}$ 35:  $pathPlanning(s,mode)$ 36: end if 37: end loop