Unmanned aerial vehicle control handover planning

A planning system for control handover planning for an unmanned aerial vehicle (UAV), the planning system comprising:

• a processor;
• and
• memory having instructions stored thereon that, when executed by the processor, cause the planning system to:
• determine a current location of a mobile control system and a current location of the UAV:
• identify a target location;
• determine a control handover zone based on a communication range constraint between the mobile control system and the UAV, the control handover zone located between the current location of the mobile control system, the current location of the UAV, and the target location;
• and
• create a mobile control system path plan based on a location of the control handover zone and a UAV path plan based on the location of the control handover zone, wherein each of the mobile control system path plan and the UAV path plan includes a control handover waypoint in the control handover zone, the control handover waypoint defining a planned location to place the mobile control system in control of the UAV, wherein the mobile control system and the UAV are expected to reach their respective control handover waypoints at the same time.