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Navigation planning can be considered as a combination of searching and executing the most convenient flight path from an initial waypoint to a destination waypoint. Generally the aim is to follow the flight path, which provides minimum fuel consumption for the air vehicle. For dynamic environments, constraints change dynamically during flight. This is a special case of dynamic path planning. As the main concern of this paper is flight planning, the conditions and objectives that are mostdoi:10.1155/2012/560184 fatcat:tzugjjglszb6vovlpioz3d5g4i