Algorithm 1. Algorithm to find the robust candidate rendezvous points

Result: Obtain ${\widehat{\mathcal{X}}}_m$ Set edge weights $\left\{w_{ij}^{r1}\right\}=\left\{{\underset{\_}{w}}_{ij}^r\right\}$; Find the graph of shortest path ${\mathcal{G}}_m^{*1}=({\mathcal{V}}_m^{*1},{\mathcal{E}}_m^{*1})$ and the corresponding set of paths ${\left\{P^{*}\right\}}^1$; Initialize ${\widehat{\mathcal{X}}}_m^1=\{v:v\in P\forall P\in {\left\{P^{*}\right\}}^1$; Set ${\mathcal{F}}^1=\{ij:w_{ij}^{r1}={\underset{\_}{w}}_{ij}^r,ij\in {\mathcal{G}}_m^{*1}\}$; Set $k=1$;