## 1 Introduction and Literature Review  
The majority of search and rescue (SAR) literature, in particular when using unnamed aerial vehicles (UAVs) in assisting SAR personnel, typically responds to disasters that involved earthquakes or hurricanes. A detailed breakdown of the use of UAVs in disaster response and SAR operations can be found in the previous literature [1, 2]. The two main axes of the use of UAVs for SAR operations can be separated into locating missing individuals or post-disaster damage assessment. Examples of the former can be broken down into wilderness SAR operations [3] and mountain rescue operations [4]. Examples of the latter, UAVs were used in earthquake response [1, 5, 6, 7, 8] and hurricane response [9, 10]. There is a limited amount of work incorporating UAVs in response to tornadoes [11, 12]. Therefore, when UAVs are being used in assisting SAR personnel in disaster assessment operations, most of the literature aims at responding to disasters that involved earthquakes or hurricanes. How UAVs can be incorporated into the response to tornadoes can be found in the intersection of the two axes. There are many overlaps of wilderness SAR, maritime SAR operations, and earthquake/hurricane response and the response to tornadoes; post-tornado search and rescue operations provide a unique setting that is ripe to develop dynamic routing algorithms to more effectively search an area that has been impacted by a tornado. Wilderness and maritime SAR operations often involve systematically searching an area to identify a single entity (vessel in distress, missing hikers) or responding directly to a distress call. There exist search rules that searchers will use to effectively cover an area and ensure that searchers rigorously examine an area and that the human searchers balance the time investigating any given small area versus the overall potential area a person in aid might be. In addition, knowledge of general ocean currents can aid searchers in their efforts by allowing searchers to prioritize their areas of inspection [13]. In response to large-scale disasters (such as earthquakes, hurricanes), search and rescue operations are often conducted as damage assessment operations from the sky and/or require the use of search dogs, cameras, and reports of where missing people may be [1; 14]. However, there is a growing body of work proposing the use of \"wireless sniffers\" to help identify where victims may be by passively detecting cell phones [1; 15; 16; 17]. Even with this innovative technology, the response (search) in the aftermath of earthquakes or hurricanes will still involve assessing an area on the size of a city, county, province, department, or region. Tornadoes, and responding to tornadoes, provide a situation that is not adequately covered by the response literature. One of the ways of allocating search areas is by using meteorological data for creating a search area [11] (For a deeper understanding of the meteorological attributes of tornadoes, we direct the reader to search meteorological literature or to consult the National Weather Service (NWS) extensive online library on the subject). Previous work used storm-based warnings (SBWs) and local storm reports (LSRs) to identify and route post-disaster UAVs. SBWs are polygons that are drawn over an area that meteorologists expect there could be severe weather. SBWs can indicate many kinds of severe weather; however, we are only explicitly looking at the SBWs that are drawn to indicate the presence of tornadoes (not severe thunderstorms, not hail, not snowstorms). LSRs are observations to where severe weather is presently occurring. Their paper only considers LSRs observations to indicate the presence of tornadoes. The intersection in both time and space of this spatial information delineates the search area [11]. The strategic aspect of SAR operations--such as the location and allocation of SAR teams, vehicles, and equipment--can be seen in previous works [12; 18].