Monitoring roads is an important task for missions such as base security. This paper describes a road monitoring
system composed of a team of small UAVs equipped with gimballed cameras. Given a fine description of the
target road, algorithms for waypoint approximation, sensor steering, and UAV spacing are developed to allow
N UAVs to survey stretches of road for activity. By automating the route generation and road tracking, human
operators are freed to study the sensor returns from the vehicles to detect anomalous behavior. The spacing
algorithm is robust to retasking and insertion/deletion of UAVs. Hardware results are presented that demonstrate
the applicability of the solution.