# Enhanced Path Planning by Repositioning the Starting Point +
###### Abstract
Footnote †: This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license ([[https://creativecommons.org/licenses/by/4.0/](https://creativecommons.org/licenses/by/4.0/)]([https://creativecommons.org/licenses/by/4.0/](https://creativecommons.org/licenses/by/4.0/))). protection and conservation, high-resolution cameras and advanced sensors enable comprehensive monitoring of wildlife populations and protected areas without disturbing natural habitats [6]. These systems not only safeguard endangered species but also detect and deter illegal activities such as poaching [7]. The agricultural sector has particularly benefited from drone integration, where precision agriculture applications utilize sensors and artificial intelligence to provide farmers with detailed data on crop health, irrigation requirements, and pesticide usage. This technological advancement enhances farming practices while simultaneously minimizing environmental impact [8; 9; 10]. Similarly, infrastructure maintenance has increasingly adopted drone technology, especially for inspecting and maintaining renewable energy installations, resulting in improved functionality and reduced downtime for critical structures such as wind turbines [11] and solar panels [12]. During natural disasters, drones prove invaluable for rapid damage assessment, search and rescue coordination, and identification of areas requiring immediate assistance [13]. Forest management applications leverage this technology for comprehensive health assessments, disease outbreak identification, deforestation monitoring, and wildfire impact analysis [14; 15]. Environmental monitoring capabilities extend to ecosystem data collection, providing insights into vegetation health [16; 17], biodiversity patterns [18], and environmental changes in previously inaccessible locations [19; 20]. Additionally, drones serve crucial roles in assessing river and lake conditions [21], coastal zone monitoring [22], and water quality assessment [23]. The operational advantages of drone deployment become evident when considering the challenges posed by their absence. Traditional approaches requiring human intervention face significant limitations, including resource dispersion, increased energy consumption, task monotony, and extended completion times. Remote or difficult-to-access operations necessitate deploying teams of personnel to challenging terrains [6; 24], resulting in elevated transportation costs, increased carbon emissions, and potential disturbance to fragile ecosystems. Manual operations inherently demand greater energy expenditure compared to drone-based alternatives [10; 25]. Human-dependent approaches require more extensive effort and time, leading to increased fatigue and potential safety risks. The financial implications of deploying large workforces significantly exceed drone operational costs, potentially limiting investment in other sustainable technologies and initiatives. The efficiency advantages of drone operations become particularly apparent in large-area coverage capabilities [10; 25]. Drones dramatically reduce time requirements for inspection, monitoring, and data collection tasks. Delays in traditional approaches can severely impact environmental response times, affecting disaster response effectiveness and conservation efforts.