Algorithm 2: RWS algorithm for the generation of the border-to-center cost $D\left(v_i\right)$ attribute. Q is a queue list managed as an FIFO by functions $insert$ and $getFirst$.

$N\left(v\right)$: the set of neighbors of vertex/triangular cell v,  $A\left(v\right)$: the UAV identifier for triangular cell v