Table 1 Definitions of the procedures’ variables

i

(Agent ID)

N _i

$\{j\in A\setminus \{i\}:d_j^i\le \alpha \}$

C _i

{i} (singleton)

$C_i^{\prime }$

∅

$C_i^{\mathrm{\prime \prime }}$

∅

$M_i^{\mathit{\text{inv}}}$

∅

$M_i^{\mathit{\text{rpl}}}$

∅