“…Such a mission may be performed by a fleet of various UAS (Forsmo et al, 2013;Kopyt, Narkiewicz, & Małecki, 2015). To cover the area in shortest time, the proper trajectories need to be provided considering not only the UAS performance but also the sensors' parameters (Ahmadzadeh, 2005;Lichota, Sibilski, & Ohme, 2017;Patel, 2011;Santamaria, Segor, Tchouchenkov, & Schoenbein, 2013). Results presented in the paper were obtained during a 3-year research project called OpUSS "Optimization of Unmanned System of Systems" performed by a research team from Warsaw University of Technology in cooperation with Lockheed Martin Company.…”