“…Even at the current low or medium levels of autonomy, RPAS have been adopted or proposed as a solution across a number of industries, often with the result of making jobs less costly for humans, allowing humans to focus their specialized skills and energy elsewhere, or otherwise improving mission efficiency and outcomes. Among recent applications are rice seed sowing [40], parasite and pest management [41], monitoring soil moisture [42], and general crop surveillance [43] in agriculture; crime analysis [44] and highway surveillance [45] in policing; disaster relief and hunting hurricanes [46], radiological mapping and threat assessment [47], fire detection [48] and firefighting [49], [50], reforestation [51], and mountain search and rescue missions [52] in environmental risk and preservation; and assorted other tasks like 3D mapping [53], [54], product delivery, and transportation [55], surveillance [56], navigating and mapping indoor environments [57], cleaning buildings [50], aerial imaging, large-scale area surveying [58], [59].…”