| It is worth mentioning that the whole above procedure is done distributedly and without any additional information about the neighbourhood. |
| That is, the distributedly deployed fixed sensor nodes collect environment-related data, and then transmit those data to AUVs around them. |
| Moreover, the routing decision at each hop is taken distributedly by the current node and its neighbours by means of a simple forwarder resolution protocol. |
| Here, cares should be taken that each robot realizes the task distributedly by exchanging information, such as trajectories, with other robots. |
| These metrics are also used to distributedly select the next forwarder. |
| Then they implemented the two algorithms distributedly to get two distributed algorithms. |
