Minimum time search in uncertain dynamic domains with complex sensorial platforms



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Lanillos Pradas, Pablo and Besada Portas, Eva and López Orozco, José Antonio and Cruz García, Jesús Manuel de la (2014) Minimum time search in uncertain dynamic domains with complex sensorial platforms. Sensors, 14 (8). pp. 14131-14179. ISSN 1424-8220

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The minimum time search in uncertain domains is a searching task, which appears in real world problems such as natural disasters and sea rescue operations, where a target has to be found, as soon as possible, by a set of sensor-equipped searchers. The automation of this task, where the time to detect the target is critical, can be achieved by new probabilistic techniques that directly minimize the Expected Time (ET) to detect a dynamic target using the observation probability models and actual observations collected by the sensors on board the searchers. The selected technique, described in algorithmic form in this paper for completeness, has only been previously partially tested with an ideal binary detection model, in spite of being designed to deal with complex non-linear/non-differential sensorial models. This paper covers the gap, testing its performance and applicability over different searching tasks with searchers equipped with different complex sensors. The sensorial models under test vary from stepped detection probabilities to continuous/discontinuous differentiable/non-differentiable detection probabilities dependent on distance, orientation, and structured maps. The analysis of the simulated results of several static and dynamic scenarios performed in this paper validates the applicability of the technique with different types of sensor models.

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© 2014 by the authors; licensee MDPI, Basel, Switzerland. This work has been supported by the Spanish Ministery of Education and Science (under the research grants DPI2006-15661-C02, DPI2009-14552-C02 and DPI2013-46665-C02) and by the EADS (CASSIDIAN) SAVIER AER-30459 project. The authors want to thank Juan A. Besada for his fruitful discussions about the sensor models.

Uncontrolled Keywords:Multi-agent systems; Bayesian search theory; Minimum time search; Cross entropy optimization.
Subjects:Sciences > Physics > Computer programming
Sciences > Computer science
ID Code:29355
Deposited On:26 Mar 2015 11:07
Last Modified:14 Dec 2015 12:31

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