Collection-Time Optimal Path Planning

Techniques for use in connection with determining a collection, time, and usage optimized route for a vehicle may include obtaining collection, usage, and time optimized reachable sets, obtaining a Pareto front of Pareto solutions for optimum time and optimum collectible, reachable at a target final location and target collectible level, and using the Pareto solutions to provide an optimized route for the vehicle. The vehicle may be guided using the optimized route and may collect an enhanced quantity of a collectible along the optimized route.