**3. Results**

Choset [19] classified the CPP algorithms according to the decomposition used. Most CPP algorithms decompose the area of interest in cells. This method is preferable for irregular areas. On the other hand, when the area of interest is a regular shape, it does not require any decomposition for single coverage of UAV. Table 2 at the end of this section summarizes the decomposition methods and presents the CPP approach, the decomposition method, the algorithm processing, the shape of the area of interest, and the corresponding reference.
