Algorithm 2: Waypoint generation.

Notation: Object $o_i$, Object set $O$, 2-D UAV position $\mathit{p}$, Waypoint set $\mathcal{M}$, Waypoint $𝓂$

Initialize:$\mathcal{M}\in \varnothing$

Input:$O$, $\mathit{p}$

for$o_i$ in $O$

$𝓂⟵$intersect($\mathit{p}$, $X_{o_i}^{\mathit{W}}$)

$\mathcal{M}$.push_back($𝓂$)

$o_i⟵O$.next()

$\mathcal{M}.$sort()

return$\mathcal{M}$