Publication Type
Journal
Journal Name
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Publication Date
Page Numbers
626 to 635
Volume
39
Issue
3
Abstract
We consider how to search for a mobile evader in a large
heterogeneous region when sensors are used for detection. Sensors
are modeled using probability of detection. ��Due to environmental
effects, this probability will not be constant over the entire
region. We map this problem to a graph search problem and, even
though deterministic graph search is NP-complete, we derive a
tractable, optimal, probabilistic search strategy. We do this by
defining the problem as a differential game played on a Markov
chain. We prove that this strategy is optimal in the sense of Nash.
Simulations of an example problem illustrate our approach and verify
our claims.