The first part of our work is to demonstrate the tradeoffs between randomized and coordinated coverage approaches. As per request of the NAVEOD personnel (Tuan B. Nguyen and Tuan N. Nguyen) we have ran several simulations and compared them to the experimental data that they received. We showed that there are a variety of randomized techniques and what their respective tradeoffs were. We also showed that coordinated approaches outperformed the best randomized approach. Click on the links for more details.