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This paper investigates collaborative computation offloading in a vehicular network. Although there are increasingly more smart vehicles on roads, a significant number of legacy vehicles that are not equipped with powerful computing devices are expected to exist for a long time. When mobile devices located in these legacy vehicles require computation offloading, they can offload the tasks to nearby smart vehicles that are available to serve as cloudlet servers. Due to high mobility of the vehicles, multiple tasks of an application may have to be offloaded to different vehicle-based cloudlets. The offloading problem is formulated as a Markov decision process (MDP) by considering the randomness of the vehicle moving speeds and wireless channel conditions. The objective is to minimize the average completion time of the application. The complexity for solving the problem directly, however, is prohibitively high due to …