Pajares Martínsanz, GonzaloRuz Ortiz, José JaimeLanillos Pradas, PabloGuijarro Mata-García, MaríaCruz García, Jesús Manuel de laSantos Peñas, Matilde2023-06-202023-06-202008-011697-7912https://hdl.handle.net/20.500.14352/50846© 2008 CEA-IFAC.The trajectory generation and its replanning in hostile environments for UAVs (Unmanned Aerial Vehicles) is a discipline in expansion. The hostile environments contains threats, modelled here as radars. Initially a route is planned. Then, if during the fly arise pop-up threats, a replanning is carried out. In both cases the routes are obtained via the A* algorithm. When replanning, the UAV makes a decision about whether to continue the initial plan or to follow the replanned route. The multiattribute decision making theory is a suitable strategy.journal articlemetadata only access004TrackingInformática (Informática)1203.17 Informática