  Consider a team with two types of agents: targets and observers. Observers
are aerial UAVs that observe targets moving on land with their movements
restricted to the paths that form a planar graph on the surface. Observers have
limited range of vision and targets do not avoid observers. The objective is to
maximize the integral of the number of targets observed in the observation
interval. Taking advantage of the fact that the future positions of targets in
the short term are predictable, we show in this article a modified hill
climbing algorithm that surpasses its previous versions in this new setting of
the CTO problem.
