Algorithm 5 computeIntraClusters

Input: ${\overrightarrow{F}}_k^l,{\overrightarrow{F}}_k^s,{\psi }_h,{\psi }_l,{\psi }_s,{\lambda }^l,{\lambda }^s,({\Delta }_1^h,\dots {\Delta }_{\widehat{h}}^h),({\Delta }_1^s,\dots {\Delta }_n^s),({\Delta }_1^l,\dots {\Delta }_m^l)$      Output: ${\overrightarrow{c}}_k^s,{\widehat{\overrightarrow{c}}}_k^s,{\overrightarrow{t}}_k^s$

1:${\overrightarrow{c}}_k^l,{\widehat{\overrightarrow{c}}}_k^l=findLocationClusters({\overrightarrow{F}}_k^l,{\lambda }^l,({\Delta }_1^h,\dots {\Delta }_{\widehat{h}}^h),({\Delta }_1^l,\dots {\Delta }_m^l))$ //Algorithm 1 2:${\overrightarrow{c}}_k^s=mapClusters({\overrightarrow{c}}_k^l,{\widehat{\overrightarrow{c}}}_k^l,{\psi }_l,{\psi }_s)$ //Algorithm 2 3:${\overrightarrow{c}}_k^s,{\widehat{\overrightarrow{c}}}_k^s=findSensorClusters({\overrightarrow{F}}_k^s,{\overrightarrow{c}}_k^s,{\lambda }^s,({\Delta }_1^h,\dots {\Delta }_{\widehat{h}}^h),({\Delta }_1^s,\dots {\Delta }_n^s))$ //Algorithm 3 4:${\overrightarrow{t}}_k^s=assignTimeRef(|{\overrightarrow{F}}_k^s|,{\psi }_s,{\psi }_h)$ //Algorithm 4