Algorithm 3: Placement: Calculate $L_{D_i}$

Require: $S_{D_i}\ne Ø,\forall i\in (1,2,\dots n)$

Ensure: $min{\sum }_{D_i,D_j\in D}\left|\right|L_{D_i}-L_{D_j}{\left|\right|}^2$

1: for  $id=1$ to n do

2:  for  $\forall (x_i,y_j)\in S_{D_{id}}$do

3:    for  $z_k=h_{i,j}(x_i,y_j)$ to  $z_{max}$ do

4:    $L_{D_{id}}\Leftarrow (x_i,y_j,z_k)$

5:    $A_{D_{id}}\Leftarrow Ø$

6:    for  $\forall (x,y,z)\in SFV$do

7:     if  $(x,y,z)$$covered$$by$ $D_{id }$then

8:       $A_{D_{id}}\Leftarrow A_{D_{id}}\cup (x,y,z)$

9:       end if

10:   end for

11:    $find$ $max\left(x\right),$ $min\left(x\right),$ $max\left(y\right),$ $min\left(y\right)$ $of{A}_{D_{id }}$

12:    if  $S_{D_{id}}\subseteq A_{D_n}$ and  $\left(max\right(x)-min(x\left)\right)\le l$ and  $\left(max\right(y)-min(y\left)\right)\le w$ then

13:    if $R_{D_{id}}\Leftarrow R_{D_{id}}\cup (x_i,y_j,z_k)$

14:     end if

15:    end for

16: end for

17: end for

18: for  $id=1$ to n do

19:  $L_{D_{id}}\Leftarrow R_{D_{id}}\left(1\right)$

20: end for

21: $OldL\Leftarrow L$

22: $Dif\Leftarrow Threshold+1$

23: while  $Dif\ge Threshold$do

24:   for  $i=1$ n do

25:    $sum\Leftarrow MAX$

26:    for  $\forall (x,y,z)\in R_{D_i}$ do

27:     $temp\Leftarrow {\sum }_{j\in (1,2,\dots ,n)\mathbf{and}j\ne i}Dijkstra(L_{D_j},(x,y,z))$

28:    if  $temp<sum$ then

29:    $sum\Leftarrow temp$

30:    $L_{D_i}\Leftarrow (x,y,z)$

31:    end if

32:   end for

33:  end for

34:  $Dif\Leftarrow \left|\right|OldL-L\left|\right|$

35:  $OldL\Leftarrow L$

36: end while