Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of the tracking of vehicle states. One such state often used is the charge level of the on board battery. High-fidelity battery state estimation requires nonlinear differential equations to be solved. This state estimation is vital in path planning to ensure flyable paths, however whe…