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Abstract. Unmanned Aerial Vehicles (UAVs) are used for the inspection of areas which are otherwise difficult to access. Autonomous monitoring and navigation requires a background knowledge on the surroundings of the vehicle. Most mission planing systems assume collision-free pre-defined paths and do not tolerate a GPS signal outage. Our approach makes weaker assumptions. This paper introduces a mission planing platform allowing for the integration of environmental prior knowledge such as 3Ddoi:10.5194/isprs-archives-xliii-b1-2020-521-2020 fatcat:tp7zjwmghngqzk5bw7v55ahvsy