Using UAV-Based Systems to Monitor Air Pollution in Areas with Poor Accessibility

Algorithm 2

PdUC exploration phase.

(1) while  isExploring  do

(2)

(3)

(4)

(5)

(6)

(7)

(8) while  and  do

(9) if   and   then

(10)

(11) if   then

(12)

(13)

(14)

(15)

(16)

(17) else

(18)

(19)

(20)

(21)

(22)

(23)

(24)

(25)end