BACK TO INDEX
Publications of Eduardo D. Sontag jointly with J. Riehl
Articles in journal or book chapters
and E.D. Sontag.
Honey-pot constrained searching with local sensory information.
Keyword(s): search problems,
This paper investigates the problem of searching for a hidden target in a bounded region of the plane by an autonomous robot which is only able to use limited local sensory information. It proposes an aggregation-based approach to solve this problem, in which the continuous search space is partitioned into a finite collection of regions on which we define a discrete search problem and a solution to the original problem is obtained through a refinement procedure that lifts the discrete path into a continuous one. The resulting solution is in general not optimal but one can construct bounds to gauge the cost penalty incurred. The discrete version is formalized and an optimization problem is stated as a `reward-collecting' bounded-length path problem. NP-completeness and efficient approximation algorithms for various cases of this problem are discussed.
BACK TO INDEX
This material is presented to ensure timely dissemination of
scholarly and technical work. Copyright and all rights therein
are retained by authors or by other copyright holders.
Last modified: Sat Sep 18 11:53:22 2021
This document was translated from BibTEX by