Abstract—The present paper describes the current state of the ongoing project of an unmanned aerial vehicle UAV) intended for surveillance of territorial waters. The UAV will operate from the Portuguese Navy Argos and Centauro class fast patrol boats (FPB), which implies the capability of taking-off and landing in 27mlength, 5.9mb readth vessels with a small and irregular landing zone at the boat’s stern, with an area around 5x6m. In the final version, the UAV will have a 12nm range, and the ability to perform GPS supported autonomous flight, automatic take-off and landing, as well as georeferenced imaging with real-time radio transmission to the FPB.
