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. 2020 Jan 3;20(1):272. doi: 10.3390/s20010272

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© 2020 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Pictures from test case 1-test 5: (a) UAS searches ground target; (b) UAS descends towards target T₁; (c) UAS inspects target T₁; (d) UAS moves towards target T₅; (e) UAS inspects target T₅; (f) UAS moves towards target T₆.