Algorithm 1: BoIs generation

1: Determine the length of the target area

2: Determine the width of the target area

3: Determine the radius of maximum coverage disk (r)

4: Sub-region area = (2r × 2r)/2

5: Number of sub-regions = Target area/Sub-region area

6: S: Total Number of sub-regions

7: B: Number of BoIs for each sub-region

8: Px(s): location-x center of sub-region (s)

9: Py(s): location-y center of sub-region (s)

10: for s = 1:S do

11:  for b = 1:B do

12:      BoIx(s, b) = Px(s) + r × cos((b − 1) × (360/B))

13:      BoIy(s, b) = Py(s) + r × sin((b − 1) × (360/B))

14:  end for

15: end for