## 3 Model Concepts and Dynamic Routing Setup
### Routing the UAV: Parameters and Considerations  
The overarching idea behind dynamically routing the UAV is for the UAV to fly directly to the waypoint with the highest computed score. If multiple waypoints have the highest computed score, the closest one is selected. In practice, waypoints along the route will have the ability to be scanned while a UAV is on route from waypoint k to the waypoint with the highest computed score (waypoint \(k+1\)). The decision was to include waypoints that are within a rectangle whose width is \(2\times\epsilon\) and length \(l\) is the length of the line between waypoint \(k\) and waypoint \(k+1\). The value of \(\epsilon\) is the minimum of the length of \(\frac{\ell}{2}\) or \(2\times r_{scan}\), \(\epsilon=\min\left[\frac{\ell}{2},2\times r_{scan}\right]\). Figure 7 illustrates the area and the waypoints that will be considered.  
Figure 5: Visual samples of an “Data-driven influence matrix” for a random waypoint (in blue) where yellow dots indicate high influence (close to 1.0), red dots indicate a lower influence (close to 0.0), and black dots indicate no influence (that is, 0.0).  
There is also the concept of Minimum Score to Consider (MStC). Given a computed score \(s_{j}\), if the score is below a MStC, the waypoint is ignored, and not considered in determining the next waypoint to visit. Once all waypoints with a computed score above a MStC are visited, the UAV is considered to have completed its mission. This is an extension of the idea that once you have enough information about a waypoint's neighbor waypoints, you can potentially safely ignore these waypoints even if they have not been visited. By default, the MStC is 0.0 (for example, waypoints outside of the initial search area have 0.0 s and will be below or equal to the MStC). MStC was selected and tuned in this paper to ensure that all damaged waypoints inside a SBW would be identified.  
There is also the option to give an initial route. The initial route is a minimum Hamiltonian path through all the way points in the search area. This initial route was the standard search pattern in [11; 12]. There are two options in the testing of this dynamic program on the historical and artificial test cases. Having the initial route allows for a systematic and shortest route to search an area. However, offering no initial route would allow the UAV to inspect the center of the search area and work outward. However, this may cause the UAV's traveled route to cross itself searching for damaged areas.  
Finally, given our two types of influence matrices (data driven and symmetric), we have four variations of the two influence matrices at our disposal: using symmetric the entire time; using the data driven matrix the entire time; starting with the symmetric and then switching to the data driven once damage is uncovered; and then using data driven and then switching to symmetric once damage is uncovered.  
Figure 6: Radial histogram of the direction of tornadoes with the length indicating of tornadoes in each direction. Note: this chart does not indicate the intensity of the tornado, nor does it give any indication of the length or width the tornado took.