Stochastic modeling of the expected time to search for an intermittent signal source under a limited sensing range

Dezhen Song, Chang Young Kim, Jingang Yi

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

2 Scopus citations

Abstract

A mobile robot is deployed to search for a stationary target that intermittently emits short duration signals. The searching mission is accomplished as soon as the robot receives a signal from the target. However, the robot cannot perceive the signal unless the target is within its limited sensing range. Therefore, the time to search the target is inherently random and hence unknown despite its importance in many searching and rescue applications. Here we propose the expected searching time (EST) as a metric to evaluate different robot motion plans under different robot configurations. We derive a closed form solution for computing the EST. To illustrate the EST model, we present two case studies. In the first case, we analyze two common motion plans: a slap method and a random walk. The EST analysis shows that the slap method is asymptotically faster than the random walk when the searching space size increases. In the second case, we compare a team of n low-cost equally-configured robots with a super robot that has the sensing range equal to that of the summation of the n robots. The EST analysis shows that the low-cost robot team takes Θ(1/n) time and the super robot takes Θ(1/√n) time as n → ∞. In both cases, our EST model successfully demonstrates its ability in assessing the searching performance. The analytical results are also confirmed in simulation.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VI
EditorsYoky Matsuoka, Hugh Durrant-Whyte, Jose Neira
PublisherMIT Press Journals
Pages275-282
Number of pages8
ISBN (Print)9780262516815
StatePublished - Jan 1 2011
EventInternational Conference on Robotics Science and Systems, RSS 2010 - Zaragoza, Spain
Duration: Jun 27 2010Jun 30 2010

Publication series

NameRobotics: Science and Systems
Volume6
ISSN (Print)2330-7668
ISSN (Electronic)2330-765X

Other

OtherInternational Conference on Robotics Science and Systems, RSS 2010
CountrySpain
CityZaragoza
Period6/27/106/30/10

All Science Journal Classification (ASJC) codes

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

Fingerprint Dive into the research topics of 'Stochastic modeling of the expected time to search for an intermittent signal source under a limited sensing range'. Together they form a unique fingerprint.

Cite this