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Exploring large, unknown, and unstructured environments is challenging for Unmanned Aerial Vehicles (UAVs), but they are valuable tools to inspect large structures safely and efficiently. The Lazy Theta* path-planning algorithm is revisited and adapted to generate paths fast enough to be used in real time and outdoors in large 3D scenarios. In real unknown scenarios, a given minimum safety distance to the nearest obstacle or unknown space should be observed, increasing the associated obstacledoi:10.3390/s19010174 fatcat:wlr4euehmzb6tmahz6e6rgbtqq