Algorithm 5: MoveRWS algorithm. Function $FindSequence$ finds a valid transition sequence, as can be seen in Figure 8. This function is also called before the initial recursion of the MoveRWS algorithm. Function $ExchangeIdentifiers$ makes use of the information of the RWS algorithm (see Algorithm 2), and it exchanges agent identifiers on two adjacent configuration spaces, by exchanging the amount of triangular cells that have the lowest coverage cost, but are adjacent. It also propagates and extends this cost. Function $RestOfSequence$ returns the remaining sequence for the specific $P\left[i\right]\to P[i+1]$ transition, in order to initially transfer only the amount of triangular cells that are adjacent between i and $i+1$ until the final $U_j$ UAV. In case this happens, the requested area has not been exchanged yet, so the algorithm runs recursively, and the last line takes a step back in sequence traversal.

S area size to be moved  $S_{adj\left(kl\right)}$ the area size of adjacent triangular cells between UAV k and l  $P_{ij}$ the transition sequence between $U_i$ and $U_j$ for triangular cell exchange, treated as a list