Algorithm 3 Sensor navigation algorithm description.

Require: ${\mathit{a}}_{i,0}$, ${\varphi }_{i,t}$, for $i=1,\dots ,N$, $t=0,\dots ,T-1$, $\parallel {\mathit{v}}_a\parallel$, $\tau$

1: Initialization: ${\widehat{\mathit{a}}}_{i,0}\leftarrow {\mathit{a}}_{i,0}$

2: for $t=1,\dots ,T-1$ do

3:  for $i=1,\dots ,N$ do

4:    ${\breve{\mathit{a}}}_{i,t}\leftarrow {\widehat{\mathit{a}}}_{i,t-1}+\parallel {\mathit{v}}_a\parallel \mathrm{\Delta }{[cos\left({\varphi }_{i,t-1}\right),sin\left({\varphi }_{i,t-1}\right)]}^T$

5:   if $\parallel {\breve{\mathit{a}}}_{i,t}-{\widehat{\mathit{x}}}_t\parallel \ge \tau$ then

6:    ${\widehat{\mathit{a}}}_{i,t}\leftarrow {\breve{\mathit{a}}}_{i,t}$

7:    ${\mathit{a}}_{i,t}\leftarrow {\mathit{a}}_{i,t-1}+\parallel {\mathit{v}}_a\parallel \mathrm{\Delta }{[cos\left({\varphi }_{i,t-1}\right),sin\left({\varphi }_{i,t-1}\right)]}^T+{\mathit{r}}_{x,t}$

8:   else

9:    ${\breve{\varphi }}_{i,t}\leftarrow {\varphi }_{i,t}+{(-1)}^i\pi /4$

10:    ${\widehat{\mathit{a}}}_{i,t}\leftarrow {\widehat{\mathit{a}}}_{i,t-1}+\parallel {\mathit{v}}_a\parallel \mathrm{\Delta }{[cos\left({\breve{\varphi }}_{i,t-1}\right),sin\left({\breve{\varphi }}_{i,t-1}\right)]}^T$

11:    ${\mathit{a}}_{i,t}\leftarrow {\mathit{a}}_{i,t-1}+\parallel {\mathit{v}}_a\parallel \mathrm{\Delta }{[cos\left({\breve{\varphi }}_{i,t-1}\right),sin\left({\breve{\varphi }}_{i,t-1}\right)]}^T+{\mathit{r}}_{x,t}$

12:   end if

13:  end for

14: end for