\contentsline {subsection}{\numberline {6.2.1}Assumptions and Models}{113}{subsection.6.2.1}
\contentsline {subsection}{\numberline {6.2.2}PeCO Protocol Algorithm}{116}{subsection.6.2.2}
\contentsline {section}{\numberline {6.3}Perimeter-based Coverage Problem Formulation}{118}{section.6.3}
\contentsline {subsection}{\numberline {6.2.1}Assumptions and Models}{113}{subsection.6.2.1}
\contentsline {subsection}{\numberline {6.2.2}PeCO Protocol Algorithm}{116}{subsection.6.2.2}
\contentsline {section}{\numberline {6.3}Perimeter-based Coverage Problem Formulation}{118}{section.6.3}