Algorithm 1: Message forwarding process.

Initialization: Array of k routes by TMR is $A\left[\right]$ Best position $pbest$ Current position & velocity of vehicle $d_{ij}\left(t\right)$ & $v_i\left(t\right)$ Next, position & velocity of vehicle $d_{ij}(t+1)$ & $v_i(t+1)$ 1:Initialize $pbest$ 2:$k=1$ 3:whileAdo 4:   Evaluate FF as Equation (3) for l vehicles in k route 5:   if $pbest<d_{ij}(t+1)$ then 6:     $pbest$ = $d_{ij}(t+1)$ 7:   end if 8:   Update $d_{ij}(t+1)$ with Equation (4) 9:   Update $v_i(t+1)$ with Equation (5) 10:   $k=k+1$ 11:end while