| Abstract: |  This thesis deals with optimal fly plan scheduling considering time and speed limits in an environment with no-fly zones.
It examines the former planning method which plans separately in space, at first, and then in time.
It comes with a new method which plans in time-space; finally, it compares both formentioned approaches.
The proposal of the new method is motivated by the cases where the original method does not work due to the separate planning in space and in time.
The dependency of the maximum velocity on altitude or surroundings including no-fly zones with time validity can be one of these cases.
It could be for example worsening weather that lasts for certain time.
The extension of the original planner of the time dimension and the velocity increases the scanned space.
That is why the work examines the influence on the speed of the flight plan location.
Spatial-time planner penalizes the deviance from the optimal velocity with the lowest consumption.
It optimises the searched route, so that even the consumption is on its lowest level.
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