In the included work the Unmanned Aerial Vehicle (UAV) mission is represented byenergy graphs motivated by the analysis in [1]. The problem of the shortest pathrouting is revisited when a dynamically changing environment is considered. Itis assumed that information about the map is received while on flight due toevents. In addition, UAVs are required, while on mission, to "scout" areas ofinterest which involves extracting as much intelligence as possible andtraversing it in the most safe flyable means. Hence, the UAV should be capableof integrating knowledge from a variety of sources and re-plan its missionaccordingly in order to fulfil objectives. Motivated by the previous, dependingon the decision making process, the notion of a "temporary" optimum path can beof physical and functional sense. The problem is modeled as a multistagedecision making process, where each stage is triggered by an event and ischaracterized by a current starting point, an area for reconnaissance purposesand a final destination. Hence, given the current availability between paths,the objective is to devise a policy that leads from an origin or current knownlocation to a destination node while traversing the unknown region of interestwith the minimal energy demand.
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