TY - GEN
T1 - An optimal solution to the linear search problem for a robot with dynamics
AU - De Pablo, Irene Ruano
AU - Becker, Aaron
AU - Bretl, Timothy
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651484757&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2010.5653185
DO - 10.1109/IROS.2010.5653185
M3 - Conference contribution
AN - SCOPUS:78651484757
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 652
EP - 657
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -