Path Planning for Multi-Vehicle-Assisted Multi-UAVs in Mobile Crowdsensing

Algorithm 1

Reallocate the detecting points.

Input The set of initial parking spots ,

the set of corresponding detecting points

Ouput NULL

1 for each do

2  if then

3 reallocate each point in to the second

nearest parking spot to it;

4

5  end

6  else

7   for each do

8   calculate the distance between

   and its nearest detecting point in ;

9   find second nearest parking spot

10   if is inside then

11   reallocate to ;

12   end

13   end

14  end

15 end