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In this paper we deal with a practical problem that arises in militarymission planning. The problem is to plan a path for one, or more, agents toreach a target without being detected by enemy sensors.  Agents are not passive, rather they can initiate actions which aid evasion.They can knockout sensors. Here to knockout a sensor means to completelydisable the sensor. They can also confuse sensors. Here to confuse a sensormeans to reduce the probability that the sensor can detect an agent.  Agent actions are path dependent and time limited. By path dependent we meanthat an agent needs to be sufficiently close to a sensor to knock it out. Bytime limited we mean that a limit is imposed on how long a sensor is knockedout or confused before it reverts back to its original operating state.  The approach adopted breaks the continuous space in which agents move into adiscrete space. This enables the problem to be formulated as a zero-one integerprogram with linear constraints. The advantage of representing the problem inthis manner is that powerful commercial software optimisation packages exist tosolve the problem to proven global optimality. A heuristic for the problembased on successive shortest paths is also presented.  Computational results are presented for a number of randomly generated testproblems that are made publicly available.

A discrete optimisation approach for target path planning whilst evading sensors