Algorithm 2 Path-planning algorithm in the sensor network.

1:for $i=1$ to $\left|S\right|$ do                            ▹ Initialize all $F_i$ to 0 2:     $F_i=0$ 3:end for 4:while any $F_i=0$ exists do            ▹ Run until DaaG collects data from every sensor 5:     if DaaG visits $s_i$ then 6:          $F_i=2$ 7:          $s_k$ = getSensorToVisit($s_i$)         ▹ Get unvisited sensor $s_k$, which has the highest $w_{ik}$ 8:          $\left(po{s}_{sx},po{s}_{sy}\right)$ = getPosition($s_k$) 9:          moveDaaGTo$\left(po{s}_{sx},po{s}_{sy}\right)$      ▹ Command flight controller to move to $\left(po{s}_{sx},po{s}_{sy}\right)$ 10:     end if 11:     T = getSensorListFromCollectedData(D)          ▹ Get list of sensed sensors from D 12:     for each $s_i$ in T do 13:           if $F_i=0$ then 14:                $F_i=1$ 15:           end if 16:     end for 17:end while