Algorithm 1 Stackelberg game resource pricing and allocation algorithm

Input: Location: $bs,uav,user$; Computation amount: $D_i$; Iteration number: epoch

Output: Price: $M_i^g,M_j^g,m_i^j$; Resource amount: $F_i^g,f_i^j$; Offload rate:${\gamma }_i^l,{\gamma }_i^g,{\gamma }_i^j,{\gamma }_i^r$

1: Simulation parameter initialized according to the distance relationships and computation amount.

2: for episode = 1 to epoch do

3:  for b = 1 to $b{s}_{num}$ do

4:   $F_i^g$=$D_i·\left({\gamma }_i^g+{\gamma }_i^r\right)$;

5:   if${\gamma }_i^g\ge 0$ and $Nee{d}_i^g$= =1 then

6:    if $min{M}_i^g\le 2M_i^g\le max{M}_i^g$ then

7:      $M_i^g$=$2·M_i^g$; $M_{i,low}^g$=$M_i^g$;

8:   else

9:    $M_{i,high}^g$=$M_i^g$; $M_i^g$=$\frac{M_{i,high}^g+M_{i,low}^g}{2}$;

10:   if${\gamma }_i^r\ge 0$ and $Nee{d}_i^g$ = = 1 then

11:    $M_{j,high}^g$=$M_j^g$; $M_j^g$=$\frac{M_{j,high}^g+M_{j,low}^g}{2}$

12:   else

13:    if $min{M}_j^g\le 2M_j^g\le max{M}_j^g$ then

14:      $M_{j,low}^g$=$M_j^g$; $M_j^g$=$2·M_j^g$

15:  for u = 1 to $ua{v}_{num}$ do

16:   $f_i^j$=$D_i·{\gamma }_i^j$

17:   if ${\gamma }_i^j\ge 0$ and $Nee{d}_i^j$= =1 then

18:    if $min{m}_i^g\le 2m_i^g\le max{m}_i^g$ then

19:      $m_i^g$=$2·m_i^g$; $m_{i,low}^g$=$m_i^g$;

20:   else

21:    $m_{i,high}^g$=$m_i^g$; $m_i^g$=$\frac{m_{i,high}^g+m_{i,low}^g}{2}$;

22:  for i = 1 to $use{r}_{num}$ do

23:   update ${\gamma }_i^l,{\gamma }_i^g,{\gamma }_i^j,{\gamma }_i^r$ by utility function according to $M_i^g,M_j^g,m_i^j,F_i^g,f_i^j$;

24:   update $Nee{d}_i^g,Nee{d}_i^j$ according to ${\gamma }_i^l,{\gamma }_i^g,{\gamma }_i^j,{\gamma }_i^r$.

25:  record the utility of each player in this iteration.

26: return$M_i^g,M_j^g,m_i^j,F_i^g,f_i^j,{\gamma }_i^l,{\gamma }_i^g,{\gamma }_i^j,{\gamma }_i^r$ and the final utility of each players.