Coordinated planning with graph sharing over networks

A system for path planning for a plurality of vehicles in a mission space, comprising

• a communication network;
• a processor on board a first vehicle;
• and
• memory having instructions stored thereon that, when executed by the processor, cause the system to:
• determine information indicative of a first local graph of the first vehicle, the first local graph including mission planning constraints of a mission space of the first vehicle;
• receive information indicative of a second local graph from a second vehicle, the second local graph including mission planning constraints of a mission space of the second vehicle;
• assemble information indicative of a global graph for the mission space in response to the receiving of the second local graph;
• and
• coordinating operation of the first vehicle and the second vehicle to perform a set of tasks;
• wherein the global graph includes information from the first local graph and the second local graph;
• and
• wherein the global graph indicates connectivity of objectives for each vehicle of the plurality of vehicles in the mission space.