# Aerial Surveillance Leveraging Delaunay Triangulation and Multiple-UAV Imaging Systems
## 2 Materials and Methods
### Dronelink  
After determining the optimal locations for drones through the utilization of the (DT Drones) application as part of this research, the next crucial step involves mission planning using the customized Dronelink SDK. Dronelink stands out as a powerful tool for automating data capture across various industries and use cases. This SDK allows for the seamless creation of missions tailored to specific needs, enabling the capture of data for orthomosaics, point clouds, 3D models, inspections, site documentation, and videography. The versatility of Dronelink is particularly valuable, providing a comprehensive solution for automating the data capture process with precision and efficiency. This integration ensures that the drones not only reach their designated locations but also execute missions with a high level of automation, contributing to the effectiveness of the overall aerial surveillance and reconnaissance strategy in our research.  
Dronelink stands out as a comprehensive software development kit (SDK) that empowers users to exercise precise control over unmanned aerial vehicles (UAVs) during mission planning and execution. This robust platform offers an array of features that includes the manipulation of key parameters such as latitude, longitude, and altitude, allowing users to finely tune the drone's navigation to specific coordinates. Dronelink's versatility extends to controlling the drone's speed, defining a radius of orbit for circular flight paths, and specifying the number of rotations around a target point. Additionally, users can seamlessly choose between capturing images or videos of designated targets during the mission, enhancing flexibility for diverse applications. A notable feature is the ability to set the direction of flight, enabling users to opt for either clockwise or anticlockwise trajectories. Furthermore, Dronelink provides a thoughtful mechanism for defining actions to be taken once the drone completes its mission, adding an extra layer of automation and efficiency to the overall data capture process. Overall, Dronelink's rich feature set positions it as a valuable tool for mission customization, offering unparalleled control and automation for a wide range of UAV applications. Figure 2 below shows a screenshot from the dronelike dashboard used to control UAV missions.  
Figure 2: Dronelink dashboard.  
The software is designed to be versatile, accommodating popular drone models across different brands. Some of the well-known UAV brands that are typically compatible with Dronelink include DJI, Autel Robotics, Skydio, Yuneec, and Parrot, among others [18]. Dronelink's support for multiple drone models allows users to choose the UAV that best fits their needs and operational requirements. The software often provides a comprehensive list of supported drones on its official website, along with any specific integration requirements or considerations. However, it is crucial to note that the landscape of UAV models and their compatibility with Dronelink may evolve over time as new drone models are released, and the software is updated accordingly [19].