Newly developed radio-frequency propagation models estimate signal strength, signal coverage, and bit error rates to support mission planning for robotic platforms operating in urban areas. This study involved highfidelity modeling on a graphics processing unit workstation and included full three-dimensional analysis of reflection, transmission, and diffraction propagation effects within urban landscapes. Real-time propagation modeling is made possible using an application programming interface (API) with simpler, faster models whose output can, in principle, be used for mission planning or platform performance assessment within a virtual scene. This report presents the results of two test cases-within a virtual rendering of the U.S. Army Cold Region Research and Engineering Laboratory campus and within a fabricated dense urban scene-to demonstrate the ability to generate high-fidelity radio-frequency propagation models from building and terrain data derived from (1) LiDAR (Light Detection and Ranging) and digital elevation models and (2) Virtual Autonomous Navigation Environment (VANE) scenes. This report outlines steps necessary to produce lower fidelity, higher speed models using the API and discusses how the API could interface with existing virtual environments and mission-planning tools. DISCLAIMER: The contents of this report are not to be used for advertising, publication, or promotional purposes. Citation of trade names does not constitute an official endorsement or approval of the use of such commercial products. All product names and trademarks cited are the property of their respective owners. The findings of this report are not to be construed as an official Department of the Army position unless so designated by other authorized documents.