Route over the threat laydown (drag sites, IN, TGT)
Planner
Weight w
r
/w
d
0 km
Fuel limit L
max
530 km
σ:
Animate the Dijkstra frontier
Sweep → Pareto front
Fly the fuel pick
Swap IN ↔ TGT
Reset
Pareto front:
P
S
vs length
Route length
—
—
Σ risk
Σλℓ
—
= −ln P
S
P
S
planned
—
—
P
S
with aspect
—
—
Same path reversed
—
—
Fuel-limited pick
—
—
Route
Leg inside a lethal zone
Lethal at every aspect
Lethal at some aspects
MEZ
Detection range, nose-on
Dijkstra settled set