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Numerous applications require aerial surveillance. Civilian applications include monitoring forest fires, oil fields and pipelines, and tracking wildlife. Applications to homeland security include border patrol and monitoring the perimeter of nuclear power plants. Military applications are numerous. The current approach to these applications is to use a single manned vehicle for surveillance. However, manned vehicles are typically large and expensive. In addition, hazardous environments anddoi:10.1109/jproc.2006.876930 fatcat:5h7mcosoufesjpuazmmrgmksue