Algorithm 3: Multi-UAV partitioning Deadlock Handling (DLH) algorithm. Baseline partitioning is performed by Algorithm 1, whereas this method is for the sub-area size adjustment (if needed). Function $getSurplusUAV\left(L\right)$ gets a UAV identifier from list L that has an area surplus, whereas function $getShortfallUAV\left(L\right)$ gets the identifier of a UAV that has an area shortfall after Algorithm 1. Function $findSequence$ finds a feasible transition sequence $P_{ij}$ between UAV $U_i$ and $U_j$, whereas the $move$ function performs the transfer between triangular cells.

$S_{vMin}$: area size of the smallest triangular cells in CDT