Analysis of Search Decision Making Using Probabilistic Search Strategies

In this paper, we propose a formulation of the spatial search problem, where a mobile searching agent seeks to locate a stationary target in a given search region or declare that the target is absent. The objective is to minimize the expected time until this search decision of target's presence...

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Bibliographic Details
Published in:IEEE transactions on robotics 2012-02, Vol.28 (1), p.132-144
Main Authors: Chung, T. H., Burdick, J. W.
Format: Article
Language:English
Subjects:
Aggregates
Applied sciences
Autonomous systems
Bayesian analysis
Bayesian methods
Computer science
control theory
systems
Control theory. Systems
Decision theory. Utility theory
Exact sciences and technology
expected time to decision
Integration
Numerical analysis
Operational research and scientific management
Operational research. Management science
Probabilistic logic
probabilistic search
Robot sensing systems
robotic decision making
Robotics
Search problems
search theory
Sensors
Simulation
Trajectory
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Description
Summary:In this paper, we propose a formulation of the spatial search problem, where a mobile searching agent seeks to locate a stationary target in a given search region or declare that the target is absent. The objective is to minimize the expected time until this search decision of target's presence (and location) or absence is made. Bayesian update expressions for the integration of observations, including false-positive and false-negative detections, are derived to facilitate both theoretical and numerical analyses of various computationally efficient (semi-)adaptive search strategies. Closed-form expressions for the search decision evolution and analytic bounds on the expected time to decision are provided under assumptions on search environment and/or sensor characteristics. Simulation studies validate the probabilistic search formulation and comparatively demonstrate the effectiveness of the proposed search strategies.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2011.2170333