# Reactive Planning-Driven Approach to Online UAVs Mission Rerouting and Rescheduling
## 6 Computational Experiments
\begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline  & & & & & & & & & & \\ \hline \multirow{2}{*}{40} & \multirow{2}{*}{**NS**} & \multirow{2}{*}{**TCR [s]**} & \multirow{2}{*}{**TC [s]**} & \multirow{2}{*}{**TCR [s]**} & \multirow{2}{*}{**TCR [s]**} & \multirow{2}{*}{**TCR [s]**} & \multirow{2}{*}{**TCR [s]**} & \multirow{2}{*}{**TCR [s]**} & \multirow{2}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{40} & \multirow{3}{*}{**NS**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{40} & \multirow{3}{*}{**NS**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{40} & \multirow{3}{*}{**NS**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{50} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{60} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{70} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{70} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{70} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{70} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} & \multirow{3}{*}{**TCR [s]**} \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \cline{3-3} \cline{6-10}  & & & & & & & & & & \\ \hline \end{tabular}
\end{table} 
Table 1: Results of the experiments conducted. The conducted experiments (both qualitative and quantitative) show that for the distribution network of a size up to 80 delivery points serviced by two UAVs, the fleet mission plans can be effectively refined (in less than 600 s) and successfully carried out in changing weather conditions while taking into account specific types of disturbances.