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Unmanned Aerial Vehicles (UAVs) with visual sensors are widely used for area mapping, management of crops and traffic, rescuing lives, and many other applications that need to cover a large area. The process of coverage can be improved with the use of efficient path planning and data transfer algorithms. Numerous research studies have been performed by concentrating on each of the aforementioned elements separately. However, to tackle the rapidly changing environmental situations, this paper proposes a cluster-based routing approach by incorporating a dynamic planning algorithm. The proposed model is composed of four modules, such as an online path planning algorithm, clustering-based network topology construction, reinforcement learning-based cluster management, and a data routing mechanism. Firstly, to maximise the coverage output, an optimal set of waypoints has been generated for all …