|Description:||Designing a system that can visually detect any object or water phenomena. Using swarm intelligence to fast detect and recognize objects on the water in a cooperative manner based on wave visual observation and floating direction estimation of the detected objects. Design and implementation of the approach for coverage and reactive UAV-swarm optimal motion planning based on current sensory information. The scientific contribution will be a study on the visual estimation of the behavior objects have on the surface of the water (e.g garbage, Search & Rescue, oil blob, signaling buoy, boats with refugees, large ships, marine mammals, etc.).The case of using a group of UAVs or a heterogeneous UAV-USV group to perform the optimal observation will directly affect the motion planning of the group.