Automatic differentiation of non-holonomic fast marching for computing most threatening trajectories under sensors surveillance

2017/04/12 by Jean‐Marie Mirebeau, Mirebeau, Jean-Marie, Johann Dréo +1
Computer Science · Engineering · #Robotic Path Planning Algorithms #Guidance and Control Systems #Autonomous Vehicle Technology and Safety

paper · doi:10.48550/arxiv.1704.03782

Abstract

We consider a two player game, where a first player has to install a surveillance system within an admissible region. The second player needs to enter the the monitored area, visit a target region, and then leave the area, while minimizing his overall probability of detection. Both players know the target region, and the second player knows the surveillance installation details.Optimal trajectories for the second player are computed using a recently developed variant of the fast marching algorithm, which takes into account curvature constraints modeling the second player vehicle maneuverability. The surveillance system optimization leverages a reverse-mode semi-automatic differentiation procedure, estimating the gradient of the value function related to the sensor location in time N log N.

Citations

• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents

Related

• A T Step Ahead Optimal Target Detection Algorithm for a Multi Sensor Surveillance System
• A Surveillance Game between a Differential Drive Robot and an Omnidirectional Agent: The Case of a Faster Evader
• Time-Dependent Surveillance-Evasion Games
• Surveillance of a Faster Fixed-Course Target
• On Vehicle Placement to Intercept Moving Targets