Algorithm 1: Defenders' system for the cooperative surveillance and pursuit problem.
	Data: G(N, E), r,d,m,v,F,ḟc,tmission,tsearch,tstale
1	k ← 0; t ← 0
2	(y(k), f(t), x(t)) ← (Equation (1))
3	tD ← ∅; nD ← ∅; TU ← ∅; NU ← ∅
4	while τ(k) < tmission do
5	(Sk, P(Sk)) ← paths(nD, 1, tD, tD, TU, NU, τ(k) + tsearch, ∅, ∅)
6	u(k) ← uavsAction(y(k), f(·), x(·), tsearch, Sk, P(Sk))
7	(y(k + 1), f(·),x(·))← (Equations (2), (3), (4), (5) and (6)), y(k), u(k)
8	k ← k + 1; t ← τ(k + 1)
9	for (detection) ∈ queries(k) do
10	if (detection).t > tD then
11	(tD, nD) ← (detection)
12	if tD + tstale < τ(k) then
13	tD ← ∅; nD ← ∅; TU ← ∅; NU ← ∅
14	for (tU, nU) ∈ (TU, NU) do
15	if tU ≤ (τ(k) –tstale) then
16	(TU, NU) ← (TU, NU) \ (tU, nU)
17	for (¬detection) ∈ queries(k) do
18	(TU, NU) ← (TU, NU) ← (¬detection)
	Result: uj(·)