2019/11/11 by Branko Ristić, Ristic, Branko, Alex Skvortsov +1
Biochemistry, Genetics and Molecular Biology · Computer Science · #Diffusion and Search Dynamics #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Information Theory (cs.IT) #Neural Networks and Reservoir Computing #Signal Processing (eess.SP) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1911.04031
openalex publication_date 2019/11/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero. The paper develops an intermittent information-driven search strategy, which combines fast and non-receptive displacement phase (ballistic phase) with a slow displacement sensing phase. Decisions where to move next, both in the ballistic phase and the slow displacement phase, are information-driven: they maximise the expected information gain. The paper demonstrates the efficiency of the proposed strategy in the context of a search for underwater targets: the searcher is an autonomous amphibious drone which can both fly and land or takeoff from the sea surface.