“…In this context, most recent proposed models have only used three regular geometric shapes, namely, triangle, square, and hexagon to tessellate a two-dimensional plane as the basis for constructing routing paths [6]. Examples of such research include square grid decomposition [7,27,43,50], triangle grid decomposition [15,17,20,21,30] and the ones based on hexagonal grid decomposition can be found in [6,8,11,22] The main contributions of this work are the design, implementation and evaluation of a path planning method for mobile anchor-based on square grid decomposition called Union-curve. The latter contains all beacon points of five trajectories, HILBERT, SCAN, S-type, Σ-Scan, and Z-curve, which maximize the number of beacon points.…”