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This paper focuses on the three variations of theUAV route planning problem, taking into account constraints onflight range and recognition radius. A novel approach isproposed that reduces more complex problem instances toparallel solutions of a basic problem without service points. Thismodular structure enhances computational efficiency andimproves routing accuracy by enabling flexible distribution oftargets among segments or individual UAVs.

unmanned aerial vehicles (UAVs); multi-UAV mission; path optimization; target inspection; route smoothing