An optimal solution to the linear search problem for a robot with dynamics

Irene Ruano De Pablo, Aaron Becker, Timothy Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we derive the control policy that minimizes the total expected time for a point mass with bounded acceleration, starting from the origin at rest, to find and return to an unknown target that is distributed uniformly on the unit interval. We apply our result to proof-of-concept hardware experiments with a planar robot arm searching for a metal object using an inductive proximity sensor. In particular, we show that our approach easily extends to optimal search along arbitrary curves, such as raster-scan patterns that might be useful in other applications like robot search-and-rescue.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages652-657
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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