Algorithm 2 Lloyd_MSTConnCtrl.

1:Detect $\left(\mathrm{Neighbors}\right)$                                   $▹$ [37] 2:Coverage_regions $=\text{Voronoi\_regions}\left(\mathrm{Neighbors}\right)\cap \text{Sensing\_regions}(\mathrm{Neighbors},s)\cap Q$ 3:Compute centroid $C_{W_i}={\left({\int }_{W_i}\varphi \left(q\right)dq\right)}^{-1}{\int }_{W_i}q\varphi \left(q\right)dq$               $▹$ Equation (5) 4:Compute $\left(\text{MST\_Graph}\right)$                              $▹$ Algorithm 1 5:Goal_Positions = Limit$(C_{W_i},\text{MST\_Graph})$                     $▹$ Section 4.1 6:Navigate $\left(\text{Goal\_Positions}\right)$ 7:Send $\left(\text{New\_Positions}\right)$