The present work will present possible navigation algorithms for a fleet of UAVs inside a known region. After a series of consideration about the requirements necessary to achieve a satisfactory result, like for example the complete coverage and the warranty of covering the spots when their priority overcomes a certain value, a set of algorithms able to satisfy the requirements will be developed. In the following will be considered both centralized and decentralized algorithms. The work flow starts from a centralized approach, that will base its functioning on the search of the maximum value of the priority function at each step, in such a way to assure the visiting of them in the minor possible time.