Heuristic methods are the most comm

Heuristic methods are the most common methods related to mission planning described in the literature. They are usually based on genetic algorithms. A significant limitation of these methods is the inability to verify how far from the optimal solution is the feasible solution that is currently found. As in the case of MILP algorithms, there are many articles related to route planning describing how to solve problems using heuristic methods. Another group of algorithms, used for mission planning, are scheduling algorithms, one of which was used to compare with the method proposed in the article based on the MILP class problem. Scheduling algorithms are significantly more effective when tasks are given without an imposed order of execution. However, if one needs to consider time windows for task execution and task priorities, scheduling algorithms become NP-hard problem (Non-Polynomial problem).