Modelling search with a binary sensor utilizing self-conjugacy of the exponential family

Devin Bonnie, Salvatore Candido, Timothy Bretl, Seth Hutchinson

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

Abstract

In this paper, we consider the problem of an autonomous robot searching for a target object whose position is characterized by a prior probability distribution over the workspace (the object prior). We consider the case of a continuous search domain, and a robot equipped with a single binary sensor whose ability to recognize the target object varies probabilistically as a function of the distance from the robot to the target (the sensor model). We show that when the object prior and sensor model are taken from the exponential family of distributions, the searcher's posterior probability map for the object location belongs to a finitely parameterizable class of functions, admitting an exact representation of the searcher's evolving belief. Unfortunately, the cost of the representation grows exponentially with the number of stages in the search. For this reason, we develop an approximation scheme that exploits regularized particle filtering methods. We present simulation studies for several scenarios to demonstrate the effectiveness of our approach using a simple, greedy search strategy.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3975-3982
Number of pages8
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Bonnie, D., Candido, S., Bretl, T., & Hutchinson, S. (2012). Modelling search with a binary sensor utilizing self-conjugacy of the exponential family. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3975-3982). [6224652] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224652