A method of planning a wireless network, comprising: navigating a first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202), wherein each respective one of the first plurality of unmanned aerial vehicles is navigated to a different location in an environment, and wherein the navigation of the first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202) are controlled by an on-board computing system using a number of location detection techniques to follow a map of the environment stored in the first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202); navigating a second plurality of unmanned aerial vehicles (104-1, 104-2, 204), wherein each respective one of the second plurality of unmanned aerial vehicles is navigated along a different route repeatedly through the environment at respective different pre-defined heights after each of the first plurality of unmanned aerial vehicles has navigated to its respective location, wherein the navigation of the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) are controlled by an on-board computing system using the number of location detection techniques to follow a map of the environment stored in the second plurality of unmanned aerial vehicles (104-1, 104-2, 204); capturing, by each respective one of the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) while navigating along its respective route and while each of the first plurality of unmanned aerial vehicles is at its respective location, data associated with a wireless signal emitted by a wireless radio of each respective one of the first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202) at its respective location and locations of the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) while the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) are capturing the data associated with each respective wireless signal, wherein the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) each includes a wireless radio to capture the data; and determining locations to place a number of wireless network access points in the environment based on the captured data. navigating a first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202), wherein each respective one of the first plurality of unmanned aerial vehicles is navigated to a different location in an environment, and wherein the navigation of the first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202) are controlled by an on-board computing system using a number of location detection techniques to follow a map of the environment stored in the first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202); navigating a second plurality of unmanned aerial vehicles (104-1, 104-2, 204), wherein each respective one of the second plurality of unmanned aerial vehicles is navigated along a different route repeatedly through the environment at respective different pre-defined heights after each of the first plurality of unmanned aerial vehicles has navigated to its respective location, wherein the navigation of the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) are controlled by an on-board computing system using the number of location detection techniques to follow a map of the environment stored in the second plurality of unmanned aerial vehicles (104-1, 104-2, 204); capturing, by each respective one of the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) while navigating along its respective route and while each of the first plurality of unmanned aerial vehicles is at its respective location, data associated with a wireless signal emitted by a wireless radio of each respective one of the first plurality of unmanned aerial vehicles (102-1, 102-2, 102-3, 102-4, 202) at its respective location and locations of the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) while the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) are capturing the data associated with each respective wireless signal, wherein the second plurality of unmanned aerial vehicles (104-1, 104-2, 204) each includes a wireless radio to capture the data; and determining locations to place a number of wireless network access points in the environment based on the captured data.