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Analysis of Search Decision Making Using Probabilistic Search Strategies

Chung, Timothy H. and Burdick, Joel W. (2012) Analysis of Search Decision Making Using Probabilistic Search Strategies. IEEE Transactions on Robotics, 28 (1). pp. 132-144. ISSN 1552-3098. doi:10.1109/TRO.2011.2170333.

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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.

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Additional Information:© 2012 IEEE. Manuscript received December 6, 2010; revised April 29, 2011; accepted September 23, 2011. Date of publication October 24, 2011; date of current version February 9, 2012. This paper was recommended for publication by Associate Editor D. Hsu and Editor D. Fox upon evaluation of the reviewers’ comments.
Subject Keywords:Autonomous systems; expected time to decision; probabilistic search; robotic decision making; search theory
Issue or Number:1
Record Number:CaltechAUTHORS:20120319-130926230
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Official Citation:Chung, T.H.; Burdick, J.W.; , "Analysis of Search Decision Making Using Probabilistic Search Strategies," Robotics, IEEE Transactions on , vol.28, no.1, pp.132-144, Feb. 2012 doi: 10.1109/TRO.2011.2170333 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29772
Deposited By: Tony Diaz
Deposited On:20 Mar 2012 21:31
Last Modified:09 Nov 2021 19:29

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