Towards Real-Time Search Planning in Subsea Environments
| العنوان: | Towards Real-Time Search Planning in Subsea Environments |
|---|---|
| المؤلفون: | Artur Wolek, Zachary J. Waters, James McMahon, Daniel J. Stilwell, Harun Yetkin |
| المصدر: | IROS |
| سنة النشر: | 2017 |
| مصطلحات موضوعية: | FOS: Computer and information sciences, 0209 industrial biotechnology, Computer science, Real-time Search, Computer Science - Artificial Intelligence, Computation, I.2.8, I.2.9, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Variation (game tree), computer.software_genre, Sonar, Computer Science - Robotics, Artificial Intelligence (cs.AI), 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Data mining, Robotics (cs.RO), computer, Subsea |
| الوصف: | We address the challenge of computing search paths in real-time for subsea applications where the goal is to locate an unknown number of targets on the seafloor. Our approach maximizes a formal definition of search effectiveness given finite search effort. We account for false positive measurements and variation in the performance of the search sensor due to geographic variation of the seafloor. We compare near-optimal search paths that can be computed in real-time with optimal search paths for which real-time computation is infeasible. We show how sonar data acquired for locating targets at a specific location can also be used to characterize the performance of the search sonar at that location. Our approach is illustrated with numerical experiments where search paths are planned using sonar data previously acquired from Boston Harbor. 8 pages, 5 figures. Submitted to 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) |
| اللغة: | English |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a3587b2aad179e39d902a838eb7eca8b http://arxiv.org/abs/1707.07662 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....a3587b2aad179e39d902a838eb7eca8b |
| قاعدة البيانات: | OpenAIRE |
| الوصف غير متاح. |