A method for controlling an unmanned aerial vehicle (UAV) to track a monitored person is provided. The method includes directing the UAV toward a target location the target location being based on past or present location information provided by a personal monitoring device attached to a monitored person, the location information representing the location of the personal monitoring device; assuming with the UAV a surveillance position relative to the target location; and determining that the monitored device is proximate to the target location by receiving signals from the personal monitoring device and/or observing the monitored person through a camera on the UAV.