The new protocol finds the path to the cluster head with the minimum cost, using an algorithm similar to flooding to propagate the cost information and greedy algorithm to find the lowest cost link;

节点根据能量消耗的代价来选择至簇头的路由，通过扩散算法来广播代价消息，采用贪婪算法来选择能量消耗最小的路径；

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This paper discusses the application of adjacency matrix at the algorithm's analysis for traversing Graph, Minimum cost Spanning Tree, Topological sort and Critical Path.

对邻接矩阵在图的遍历、最小生成树、拓扑排序和关键路径等算法分析上的应用作了一定的探讨。

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Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost.

然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。

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Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost.

然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。

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