This option expands F2AM by allowing trajectory control for the drones by means of pre-defined waypoints. AERPAW will offer a library of pre-configured trajectories to the experimenter, while the experimenter can also define their own waypoints, with the restriction that they should be within the boundaries of the flight area. The drone will not be allowed to fly outside of a predefined geofence that limits the flight area.  

Example experiments: 1) Drone follows a predefined path to collect measurement data from IoT sensors buried under the ground, 2) Drone follows a predefined path, and the fixed node (e.g., Fortem radar) estimates/tracks its location, compares the estimated location with the ground truth.