“…The objective is to minimize the mission time, as described as the objective function J 1.1 in Equation 5.1.In Phase-One, the GA optimization results in multiple UAV mission plans with costs of 2140.5 meters. The mission plan selected for the continued Phase-Two optimization is {5, 2,6,10,7,11,12,15,16,8,4,3,14,13,9, 1} and is shown as the dotted blue line in…”