Architecture for real-time maintenance of distributed mission plans

A system for routing a plurality of entities through a predetermined area and for scanning the predetermined area, said system comprising:

• a plan for a plurality of entities, said plan including a plurality of routes and sets of scan points for each of the entities;
• a deterministic method for computing the plan;
• and
• a plurality of devices corresponding to each of the entities, said devices each performing routing and scanning operations independently from the other of the plurality of entities.

A computer program product for determining a route for each of a plurality of entities through a predetermined area and for analyzing the content of the predetermined area, said product comprising:

• a first instruction for implementing a deterministic method for computing a plan for each of the plurality of entities, the plan including a plurality of routes and sets of scan points for each of the entities;
• a second instruction for inputting the plan;
• and
• a third instruction for performing each of said first and second instructions by each of the plurality of entities independently from the other entities.