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In literature, UAVs are used as flying cameras for different surveillance tasks such as area coverage and reconnaissance. The most common one is the area coverage, where the agent has to follow a pre-defined path that maximises the area covered by the overseer. These paths depend on the geometry of the area that must be supervised. In reconnaissance problems, one or more UAVs must visit several checkpoints along their routes to the target location. A method where UAVs must fly on a limited map in a reconnaissance mission, avoid collisions with unknown obstacles, and repeatedly visit some points of interest has been designed.

Proposed solutions: