In this work, a continuous monitoring scenario where multiple unmanned aerial vehicles are tasked to monitor a dynamic target moving along a path with unknown speed profile is addressed. Optimal trajectories based on the nominal trajectory of the target are generated offline. If changes in the speed profile of the target are detected, the agents’ trajectories can be modified online to ensure that the monitoring requirements are met, while still maintaining intervehicle safety guarantees. The time-coordination algorithm proposed as a solution to this problem is based on a leader–follower structure. The unmanned aerial vehicles are assumed to exchange information over a communication network where limited quality of service, switching topologies, and data package dropouts are considered. Finally, performance bounds and simulation results to prove the efficacy of our method are provided.