Algorithm 2 Task allocation scheme
1:	Input:$\Delta Pr(a)$, precision ${\epsilon }_{\theta }$, ${\theta }_k^{min}=0$ and ${\theta }_k^{max}=1$
2:	Output:${\lambda }_k^{*},(k=\{1,2,3,\cdots ,K\}\&\&k!=a)$
3:	for$(k=\{1,2,3,\cdots ,K\}\&\&k!=a)$do
4:	Compute $f_2({\theta }_k^{min})$, $f_2({\theta }_k^{max})$ by Equation (18).
5:	while $(f_2({\theta }_k^{min})f_2({\theta }_k^{max})<0\&\&({\theta }_k^{max}-{\theta }_k^{min})>{\epsilon }_{\theta })$ do
6:	Set middle point ${\theta }_k^{\mathrm{mid}}=({\theta }_k^{min}+{\theta }_k^{max})/\phantom{({\theta }_k^{min}+{\theta }_k^{max})2}2$.
7:	Compute $f_2({\theta }_k^{\mathrm{mid}})$ by Equation (18).
8:	if $(f_2({\theta }_k^{\mathrm{mid}})>0)$ then
9:	${\theta }_k^{min}={\theta }_k^{\mathrm{mid}}$.
10:	else
11:	${\theta }_k^{max}={\theta }_k^{\mathrm{mid}}$.
12:	end if
13:	Compute $f_2({\theta }_k^{min})$, $f_2({\theta }_k^{max})$ by Equation (18).
14:	end while
15:	${\theta }_k^{*}=({\theta }_k^{min}+{\theta }_k^{max})/2$.
16:	Compute ${\lambda }_k^{*}$ by C4 in Equation (11).
17:	end for
18:	END