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Input: T, MNs, SNs, CH_k

Output: Coverage enhancement

Begin

For $S N \in C_{k}$

Sense the target

If (T detected)

Report→CH_k

Else

Follows sleep scheduling

End If

End for

In CH_k

Compute CI

If (CI==high)

Don’t move MN

Else

Select MN from HAHP

Initialize $M N s \in C_{k}$

For all MNs

Find CIx

Find rating

Select MN_op

Move MN_op→T

End for

End If

End