Algorithm 1 Computation Offloading Decision (COD) algorithm

Input:

Computation tasks of sensors $M_n$($n\in \mathsf{\Gamma }$).

Output:

Computation offloading strategy of sensors $s_n$($n\in \mathsf{\Gamma }$).

Initialization

Each sensor initially offloads its computation task to the cloud, $s_n^0=0$ ($n\in \mathsf{\Gamma }$).

1:Compute the cost of each sensor n when offloading the computation task to the cloud, $C_n^0$, based on Equation (14). 2:for each improvement iteration t do 3: for each sensor $n\in \mathsf{\Psi }(t-1)$ do 4:  obtain the computation and communication resources allocated to sensor n when offloading the computation task to each cloudlet according to $s_{-n}^{t-1}$. 5:  compute the better strategy set ${\rho }_n^t$ based on Equations (13) and (14). 6:  choose the improvement decision $d_n^t$ from ${\rho }_n^t$ to minimize the cost function. 7: end for 8: if the better strategy set of all sensors ${\displaystyle {\displaystyle \bigcup }_{n=1}^N}{\rho }_n^t\ne \varnothing$ then 9:  each sensor n with ${\rho }_n^t\ne \varnothing$ competes for the improvement opportunity, and the sensor with larger ${\xi }_n^t$ is endowed with higher priority of winning the contention. 10:  if sensor n wins the contention then 11:   $s_n^t=d_n^t$. 12:  end if 13: else 14:  break; 15: end if 16: end for