Input: ( )
Output: a set of sampling points
  (1)
  (2) for all   do
  (3)  
  (4)  for all   such that   do
  (5)  
  (6)  end for
  (7)  if   then
  (8)    exit is not covered by . *
  (9)  end if
(10)  List the points in sorted by their azimuth
   angles on the polar coordinate system
   with reference to
(11) for all   such that   do
(12)
    
(13) end for
(14)
   
(15)end for
Algorithm 1: Arc sampling algorithm.