Algorithm 4: MoveAWP algorithm. $C_v$ is the transition cost from the AWP algorithm (see Algorithm 1). Then, function $FindBiggest{C}_v(P\left[i\right],P[i+1])$ finds the largest transition cost value triangular cell of UAV $P\left[i\right]$ that is adjacent to UAV $P[i+1]$ in the sequence. Then, function $Awp$ takes as variables an initial cell v, the area size that needs to be exchanged and the UAV identifier that needs to be exchanged from. The growing function is similar to Algorithm 1.

$P_{ij}$ the transition sequence between $U_i$ and $U_j$ for triangular cells exchange, treated as a list  $v_{init}$: initial triangular cell for identifier exchange  S: area size to be moved