Remotely Piloted Aircraft Systems and a Wireless Sensors Network for Radiological Accidents

Algorithm 1

RPAS modes.

: the set of nodes requesting service

: Route of waypoints for the RPAS

If the RPAS is in idle mode

    = empty set

   The RPAS flights over the default flight plan

   The RPAS periodically distributes location messages

   If the UAV receive a service request message from a node

     Add to

     Calculate the new route of waypoints

     Set working mode to the RPAS

     Reduce the RPAS speed over waypoints to receive the maximum amount of data

     If transmission ends

        Remove from

        If is not empty

          Calculate new route for RPAS

          Otherwise

          RPAS Mode = idle