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Recent advances in small unmanned air vehicles (UAV) lead to robust on-board stabilized platforms ready to use for real-world problems. As a result, many different autonomy functions have been demonstrated, which allow controlling the UAVs at high level. However, the great variety of platforms also poses new challenges when adapting these autonomy functions to new platforms. For instance modifying a trajectory planning algorithm, which was designed for a rotary-aircraft with a moving camera, to work on a fixed-wing aircraft with a static camera is not a trivial task. Often such algorithmic solutions are tailored so specifically to a certain platform that it becomes very complicated to reuse algorithms. This results in a variety of many different approaches trying to solve the same task. We therefore encourage designing algorithms for UAVs autonomy function to be more generic. As an example, we focus on the task to autonomously follow a moving ground object using an UAV.