Searching for a one-dimensional random walker: Randomized strategy with energy budget

Alessandro Renzaglia, Narges Noori, Volkan I Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

In this paper we study the problem of designing search strategies to find a target whose motion is described by a random walk along a one-dimensional bounded environment. The sensing model and the characteristic of the environment require the searcher and the target to be on the same site at the same time to guarantee capture. The objective is to optimize the searcher's motion, given by a sequence of actions (move right, left or remain stationary), so that the probability of capturing the target is maximized. Each action is associated with an energy cost. The searcher strategy is constrained by a total energy budget. We propose a class of randomized strategies for which we provide an analytical expression for the capture probability as a function of a single parameter. We then use this expression to find the best strategy within this class. In addition to theoretical results, the algorithms are analyzed in simulation and compared with other intuitive solutions.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages6019-6024
Number of pages6
DOIs
StatePublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

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