Algorithm 1: Antagonizing wavefront propagation algorithm that computes the baseline area partition. Q is a queue list managed as an FIFO by functions $insert$ and $getFirst$.

$v_{Ik}$: initial vertices/triangular cells for each UAV $U_k$,  $S_v$: area size of triangular cells v,  $N\left(v\right)$: the set of neighbors of vertex v,  $A\left(v\right)$: the UAV identifier allocated to triangular cell v,  $Z_k$: area coverage capability of UAV $U_k$ in square meters  $S_{vMin}$: area size of the smallest triangular cell in CDT