NDLI: Minimum time search for lost targets using cross entropy optimization

Content Provider	IEEE Xplore Digital Library
Author	Lanillos, P. Besada-Portas, E. Pajares, G. Ruz, J.J.
Copyright Year	2012
Description	Author affiliation: Computer Architecture and Automation Department (DACYA), Complutense University, Madrid, Spain (Lanillos, P.; Besada-Portas, E.; Ruz, J.J.) \|\| Software Engineering and Artificial Intelligence Department, Complutense University, Madrid, Spain (Pajares, G.)
Abstract	This paper formulates and proposes a discrete solution for the problem of finding a lost target under uncertainty in minimum time (Minimum Time Search). Given a searching region where some information about the target is known but uncertain (i.e. location and dynamics), and a searching agent with constrained dynamics, we provide two decision making algorithms that optimizes the agent actions to find the target in a minimum time. The problem is faced as a discrete optimization: the actions and the sensor are discrete, and the target probabilistic model is described over a graph, where each vertex contains the target's location probability information and each edge defines the agent possible actions. We revisit the mathematical model of the optimal search problem and we propose a novel approach to include the time into the decision making by reinterpreting it as a maximum discounted time reward problem. The optimal decision plan for the agent is obtained by solving this non convex discrete problem using the cross entropy method. By performing statistical simulations we show how the target is found in minimum time.
Starting Page	602
Ending Page	609
File Size	828338
Page Count	8
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385510
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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