Real-time route and sensor planning system with variable mission objectives

摘要

A method routes an entity ( 200 ) through a predetermined area for scanning the content of the predetermined area. The method comprises the steps of: partitioning the predetermined area into cells ( 100 ); determining a starting cell for the entity ( 200 ); initiating a scan of a number of the cells from the starting cell and determining the content of each of the number of cells; and determining a total cost for the entity ( 200 ) to travel to each of the scanned cells and to perform a scan from each of the scanned cells.