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. 2024 Sep 9;24(17):5851. doi: 10.3390/s24175851
Algorithm 3: generateUncoveredZones()
Input    :CH
Output    :env         //  the environment object
1  env = initiateEnvironment(CH)
2  emptyAreas = getEnvrionmentCoordinates(env,CH)
3  UZ=splitOnInternalVertices()
4  env.UZ=UZ
5  return env