RT Journal Article
T1 Minimum time search in uncertain dynamic domains with complex sensorial platforms
A1 Lanillos Pradas, Pablo
A1 Besada Portas, Eva
A1 López Orozco, José Antonio
A1 Cruz García, Jesús Manuel de la
AB 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.
PB MDPI AG
SN 1424-8220
YR 2014
FD 2014-08-04
LK https://hdl.handle.net/20.500.14352/33944
UL https://hdl.handle.net/20.500.14352/33944
LA eng
NO © 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.
NO Spanish Ministery of Education and Science
NO EADS (CASSIDIAN) SAVIER
DS Docta Complutense
RD 6 abr 2025