A reactive attack planner for beyond visual range (BVR) air-to-air combat is described. The planning algorithm evaluates salient environmental cues to choose targets and produce attack routes that best exploit ownship tactical advantage and protect ownship vulnerability. Moving and stationary threats are handled in a unified manner. The planner uses a model of susceptibility to deal with uncertain hostile environmental conditions. Target sequencing is determined by a cost-to-attack ratio which combines lethality and vulnerability to provide a target selection indicator. Meta-knowledge about the physical limitations of the aircraft and its pilot provides constraints on actions. The algorithm produces a satisfying solution to target selection, sequencing, and path generation to BVR air-to-air attack.
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