Figure7

Figure 7. Execution flow for AQ 1 (similar to Query 1) where a ground operator requests a point cloud for a selected (blue) region. The numbers highlight the important steps. The pink numbered circles indicate the execution flow for the original point cloud query. The blue numbered circles indicate the execution flow for the generated sub-query for the LIDAR scans required to obtain the originally requested point cloud. The resulting flight paths for the executed exploration mission are shown in yellow. AQ: Active Query; LIDAR: Light Detection and Ranging.