In this work, we consider the problem of using a drone to collect information within orchards in order to scout insect pests, i.e., the stink bug Halyomorpha halys. An orchard can be modeled as an aisle-graph, which is a regular and constrained data structure formed by consecutive aisles where trees are arranged in a straight line. For monitoring the presence of bugs, a drone flies close to the trees and takes videos and/or pictures that will be analyzed offline. As the drone\u27s energy is limited, only a subset of locations in the orchard can be visited with a fully charged battery. Those places that are most likely to be infested should be selected to promptly detect the pest. We implemented the proposed approach on a DJI drone and evaluated its performance in the real-world environment
