Algorithm 1 Dwell time allocation algorithm based on the Nash bargaining solution (NBS)

Step 1: Parameter initialization: At the $k^{\mathrm{th}}$ time instant, for $q=1,\cdots ,Q$, set the parameter initial values ${\gamma }_{\mathrm{th}}^{\min }$, $T^{\min }$ and $T^{\max }$, Lagrangian multipliers ${\left\{{({\eta }_{i,q,k})}^{\left(l\right)}\right\}}_{i=1}^N$ $, {\left\{{({\mu }_{i,q,k})}^{\left(l\right)}\right\}}_{i=1}^N$ and ${\left\{{({\psi }_{i,q,k})}^{\left(l\right)}\right\}}_{i=1}^N$ , the number of iteration index $l=1$, error tolerance $\epsilon >0;$ Step 2: Circulation: At the $k^{\mathrm{th}}$ time instant, for $q=1,\cdots ,Q$, use Equation (28) to calculate $t_{i,q,k}^{\left(l\right)};$ Use Equation (30) to update Lagrange multipliers; Update $l\leftarrow l+1;$ Step 3: When $\left|t_{i,q,k}^{\left(l+1\right)}-t_{i,q,k}^{\left(l\right)}\right|<\epsilon$ or $l=L_{\max }$, end the cycle; Step 4: Repeat Parameter update: For $\forall i$, update $t_{i,q,k}^{*}\leftarrow t_{i,q,k}^{\left(l\right)}.$