Abstract Hallam, Christina, Harrison, K. J., and Ward, J. A., A Multiobjective Optimal Path Algorithm, Digital Signal Processing 11 (2001) 133–143 We describe an algorithm for finding Pareto-optimal paths in a multicriterion shortest path problem. We use the algorithm to find approximate solutions to the problem of guiding a mobile object such as a submarine from one location to another, through a field of sensors at known positions, within a fixed time period and with minimum probability of detection.