Algorithm 1: The ROBINA.

B: Beacon message having next node   Dn: Set of Dead Nodes   S: Sonobuoys   Sn: Set of Nodes   Parity Flag Values: 0 and 1 (Used to Check Void Nodes)   X. Y. Z: Coordinates of nodes   Adj Ni: Adjacent Nodes   Procedure FORWARD BEACON (Sonobuoys (Sn), Node)   If B expires, then//Using B in Underwater is like ‘Hello Packet’ having the address of the next node   B. correspondent $\leftarrow$ Node location (Nl)//correspondent having all possible coordinates of Nodes   if node $\in$Dn then//check for dead nodes             for S $\in S$n node, do   if parity flag (s) = 1 then                B.add (node (s) $\leftarrow$ n (x), n(y))   A (AdjNi) = $\frac{E \left(Ni\right)}{\left( SN{N}_{range}\ast N\right)+1}$//adjacency nodes are decided using Equation (1).   Flag (p) $\leftarrow$ 0//Receive Partiy Value   end if   end for   end if   Forward B   End if   End Procedure   Procedure RECEIVE BEACON (Node, B)   If B $\leftarrow$ Sn             Modify B. correspondent then             For $Se{l}_{op}$ = $\frac{Ns-Dn}{Sn}$//using Equation (2)   PACK = A (AdjNi) ∗ SNNs   Else   Modify PACK (N) = ${\prod }_{j=0}^{d=1}\forall SNNs \left(Dn\right)\subseteq Sn$//using Equation (3)   if $flag{ }_p^{j=0} \leftarrow 0$                Receive B   end if   End For   End IF   End Procedure