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Title: Occlusion-aware uav path planning for reconnaissance and surveillance
Authors: Zhang, J
Huang, H 
Issue Date: 2021
Source: Drones, 2021, v. 5, no. 3, 98
Abstract: Unmanned Aerial Vehicles (UAVs) have become necessary tools for a wide range of activi-ties including but not limited to real-time monitoring, surveillance, reconnaissance, border patrol, search and rescue, civilian, scientific and military missions, etc. Their advantage is unprecedented and irreplaceable, especially in environments dangerous to humans, for example, in radiation or pollution-exposed areas. Two path-planning algorithms for reconnaissance and surveillance are proposed in this paper, which ensures every point on the target ground area can be seen at least once in a complete surveillance circle. Moreover, the geometrically complex environments with occlusions are considered in our research. Compared with many existing methods, we decompose this problem into a waypoint-determination problem and an instance of the traveling-salesman problem.
Keywords: Aerial surveillance
Coverage path planning
Path planning
Terrain coverage
Publisher: MDPI AG
Journal: Drones 
EISSN: 2504-446X
DOI: 10.3390/drones5030098
Rights: © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (
The following publication Zhang, J.; Huang, H. Occlusion-Aware UAV Path Planning for Reconnaissance and Surveillance. Drones 2021, 5, 98 is available at
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