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

Algorithm 1

PdUC search phase.

(1) while  isSearching  do

(2)

(3)

(4)

(5) if     then

(6)

(7)

(8)

(9) else

(10)

(11)

(12)

(13)if   then

(14)

(15)else

(16)

(17)if    then

(18)

(19)

(20)end