Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance

. 2018 Mar 20;18(3):927. doi: 10.3390/s18030927

Algorithm 4 Redefining fictitious boundaries.

1:
Detect $(o_{i})$
2:
$x_{m i n, A r e a} = m i n (p_{i, x}, o_{i, x})$
3:
$x_{m a x, A r e a} = m a x (p_{i, x}, o_{i, x})$
4:
$y_{m i n, A r e a} = m i n (p_{i, y}, o_{i, y})$
5:
$y_{m a x, A r e a} = m a x (p_{i, y}, o_{i, y})$
6:
Area $= [x_{m i n, A r e a}, x_{m a x, A r e a}, y_{m i n, A r e a}, y_{m a x, A r e a}]$
7:
$Q =$ Area
8:
Execute $(Lloyd_MSTConnCtrl Iteration)$ $▹$ Algorithm 2