Cooperative UAVs’ or drones’ systems are proving increasingly beneficial for aerial tracking missions. They are, for example, used during disasters such as wildfires, floods, and disappearances. In this article, we present an optimal partitioning algorithm that improves mission handling through a divide-and-conquer strategy. Please, note that this article is part of a collection of articles on optimized flight planning algorithms that promote rapid and efficient mission planning. A forthcoming paper will discuss another algorithm that generates flight plans exhaustively covering assigned areas with the shortest paths, thus ensuring optimized maximal information gathering (cf. Figure below).