US Patent 10060741 Topology-based data gathering

Topology based adaptive data gathering is disclosed herein. Payload data gathering by an unmanned aerial vehicle can be adjusted based on topological or topographical characteristics of the area of flight by the unmanned aerial vehicle. The unmanned aerial vehicle collects payload data over an area and may scale up the rate of payload data gathering or slow down the flight as the unmanned aerial vehicle flies over a high or complex structure. Conversely, the unmanned aerial vehicle may advantageously scale down the rate of payload data gathering or speed up the flight as the unmanned aerial vehicle flies over a simple structure or an empty area.