“…Using the operator knowledge represented in the taxonomy, we recently developed a UAV replanning task (Cook, Smallman, Lacson, & Manes, 2009) that is consistent with the key objectives and features of synthetic tasks (Cooke, Rivera, Shope, & Caukwell, 1999;Gugerty, et al, 1999;Martin, Lyon, & Schreiber, 1998): our synthetic UAV replanning task (1) focuses on the key perceptual 3-D spatial demands of en route replanning, (2) is reconfigurable for additional research, and (3) can be performed by non-expert operators.…”