  In this paper we deal with a practical problem that arises in military
mission planning. The problem is to plan a path for one, or more, agents to
reach 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 completely
disable the sensor. They can also confuse sensors. Here to confuse a sensor
means to reduce the probability that the sensor can detect an agent.
  Agent actions are path dependent and time limited. By path dependent we mean
that an agent needs to be sufficiently close to a sensor to knock it out. By
time limited we mean that a limit is imposed on how long a sensor is knocked
out or confused before it reverts back to its original operating state.
  The approach adopted breaks the continuous space in which agents move into a
discrete space. This enables the problem to be formulated as a zero-one integer
program with linear constraints. The advantage of representing the problem in
this manner is that powerful commercial software optimisation packages exist to
solve the problem to proven global optimality. A heuristic for the problem
based on successive shortest paths is also presented.
  Computational results are presented for a number of randomly generated test
problems that are made publicly available.
