The term “Multi Domain Operations (MDO)” describes all the scenarios where the fusion of capabilities across two or more domains (land, maritime, air, space, cyber) improves mission effectiveness and safety through real-time information sharing and coordinated actions. In this context, this thesis develops a multi-domain simulation environment to study and validate a UAV-assisted reconnaissance mission for maritime navigation. A ship follows a designated waypoint sequence while a drone scouts ahead to assess the safety of the upcoming route; when a dangerous area is detected, the ship’s trajectory is replanned to avoid it while remaining as close as possible to the original path, extending the ship’s situational awareness.