## Appendix D  
In this Appendix, we present the documentation pseudocode of the construction of the mission design algorithm:  
```
// Define the objects/classes to be used in the Algorithm // Define the class/object: Fundamental Mission Segments (FMSs) [or simply Segments], and its properties { // Define the Unique Identifier for each FMSs long Id; // Create a list of Points of Interest (POIs) belonging to each FMS List-PointOfInterests; } // Define the class/object: POIs, and define its properties { // Define the Unique Identifier for each unique POI long Id; } // Create a list of new objects/classes using FMSs and their POIs List-Segment- Segments; // Start External Iterative Process (Ex-Loop)
```  
**Algorithm A2**Pseudocode of diagrammatic mission design algorithm ```
For Each Segment in Segments { //Record Procedures Log Log}; //Operational Procedures Operational Procedures(); //Load Next Segments LoadNextSegments(); //Start Internal Iterative Process (In-Loop) For Each PointOfInterest in Segment.PointOfInterests { //Communication Procedures for Situational Awareness result = Communicate() && SituationalAwareness(); //Actions based on the result of Communication for Situational Awareness If Result = Redirect // 1 st Case: Change of Route { Log(); //Record Procedures Log Communicate(); // Procedures related to Communication Redirect(); //Procedures for for Changing Route } Else If Result = TimeStall // 2 nd Case: Time Lag (Delay) {  Actions(); //Operational Procedures Communicate(); // Procedures related to Communication Log(); //Record Procedures Log } Else // 3 rd Case: No time or spatial changes Log(); //Record Procedures Log } //Record Procedures Log Log(); }
```

**Algorithm A2**_cont._

In this section, the fundamental definitions which are presented in Appendix C are the same for the mathematical algorithmic analysis to construct the following Table A3: \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \# & \multirow{2}{*}{**Operation/Process**} & **Data Structure(s) or** & \multirow{2}{*}{**Algorithm**} & \multirow{2}{*}{**\(\Omega\) Complexity**} & \multirow{2}{*}{**\(\Theta\) Complexity**} & \multirow{2}{*}{**O**} & \multirow{2}{*}{**Space Complexity**} \\
**Step** & & & & & & & \\ \hline
1 & Creating FMS Objects & List of n Segments & \(\Omega\)(n) & \(\Theta\)(n) & O(n) & O(n) \\
2 & Adding FCIs to FMS & List of m POIs in & & \(\Omega\)(1) & \(\Theta\)(1) & O(1) & O(m \(\times\) n) \\
3 & External Loop & List (n Segments) & \(\Omega\)(n) & \(\Theta\)(n) & O(n) & O(1) \\
4 & \multirow{2}{*}{Log Procedure (Ex-Loop)} & Logging Mechanism (File & \(\Omega\)(1) & \(\Theta\)(1) & O(1) & O(1) \\
5 & Operational Procedures & & or Memory) & & & & \\
5 & (Ex-Loop) & Procedural Algorithm & \(\Omega\)(1) & \(\Theta\)(1) & O(1) & O(1) \\
6 & Load Next Segments & & Queue for Segments & \(\Omega\)(1) & \(\Theta\)(1) & O(1) & O(n) \\
7 & Internal Loop over POIs & List (m POIs in Segment) & \(\Omega\)(m) & \(\Theta\)(m) & O(m) & O(1) \\  & Communication and & & & & & \\
8 & Situational Awareness & Procedural Algorithm & \(\Omega\)(1) & \(\Theta\)(1) & O(1) & O(1) \\  & (In-Loop) & & & & & \\
9 & Handling Redirect & & & & & \\
9 & (Change of Route) & Procedural Algorithm & \(\Omega\)(1) & \(\Theta\)(1) & O(1) & O(1) \\  & (In-Loop) & & & & & \\
10 & Handling TimeStall & & & & & \\ (Delay) (In-Loop) & & & & & & \\ \(11\) & Log Procedure (In-Loop) & & & & & \\ \(12\) & Final Log Procedure & Logging Mechanism (File & \(\Omega\)(1) & \(\Theta\)(1) & O(1) & O(1) \\
12 & (Ex-Loop End) & or Memory) & & & & \\ \(\mathbf{Total}\) & **Overall Complexity** & - & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table A3: Estimated algorithmic time and space complexity for a possible implementation of Construction of Mission Design Algorithm. The explanation of the choice of data structures and algorithms for each of the presented steps above is explained in detail in the following section. * _Step 1. Creating FMS Objects Operation is One Step_: Initializing the data structure to store fundamental mission segments.