DocumentCode :
664053
Title :
Searching for a one-dimensional random walker: Deterministic strategies with a time budget when crossing is allowed
Author :
Noori, Narges ; Renzaglia, Alessandro ; Isler, Volkan
Author_Institution :
Dept. of Comput. Sci. & Eng., Univ. of Minnesota, Minneapolis, MN, USA
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
4811
Lastpage :
4816
Abstract :
We present deterministic strategies for capturing a target performing a discrete random walk on a discretized line segment. The searcher has a limited time budget. Its goal is to maximize the probability of capturing the target within the budget. A challenging aspect of our model is that the target can cross the searcher without being captured when they take the same edge at the same time in opposite directions. We present a Partially Observable Markov Decision Process (POMDP) approach for finding the optimal search strategy. We also present an efficient approximate solution to the POMDP. The strategies found by this approach reveal structural properties of the efficient search strategies which we exploit to solve the problem efficiently without running the POMDP.
Keywords :
Markov processes; decision making; game theory; mobile robots; path planning; probability; random processes; POMDP approach; deterministic strategies; discrete random walk; one-dimensional random walker; optimal search strategy; partially observable Markov decision process; probability maximization; structural properties; time budget; Approximation methods; Equations; Games; Markov processes; Search problems; Shape; Time factors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6697050
Filename :
6697050
Link To Document :
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