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. 2018 Jun 2;18(6):1795. doi: 10.3390/s18061795
Algorithm: Negotiation process
   Begin
   target_List = targets_Msg(coordinates, needed_resource, priority, …);
   agent_List = agent_Msg(coordinates, phi, v, …);
   while (the Pareto optimal is not found or the deadline is not reached):
      round = 0;
      For i in range (0, N):
        For j in range (0, M):
          Agent[i] computes B(X)[j] and C(X)[j];
          Agent[i] generates mwt_List[i], the most-wanted target list;
        End for;
      End for;
      bidding_List = random_List();
      For i in bidding_List:
        Agent[i] places the bid;
        Agent[i] broadcasts its selection;
        if (k > i):
          Agent[k] updates [B(X), C(X)] by new = (1 − Pij) * [B(X), C(X)];
        End if;
      End for;
      For j in range target_List:;
        auction_Host calculates [B(X), C(X)];
      End for;
      auctioneer accepts the bids and generates the solution;
   End while;
   End.