Effects of Locomotive Drift in Scale-Invariant Robotic Search Strategies

Autonomous robotic search problems deal with different levels of uncertainty. When uncertainty is low, deterministic strategies employing available knowledge result in most effective searches. However, there are domains where uncertainty is always high since information about robot location, environment boundaries or precise reference points is unattainable, e.g., in cave, deep ocean, planetary exploration, or upon sensor or communications impairment. Furthermore, latency regarding when search targets move, appear or disappear add to uncertainty sources. Here we study intrinsic and environmental factors that affect low-informed robotic search based on diffusive Brownian, naive ballistic, and superdiffusive strategies (Lévy walks), and in particular, the effectiveness of their random exploration. Representative strategies were evaluated considering both intrinsic (motion drift, energy or memory limitations) and extrinsic factors (obstacles and search boundaries). Our results point towards minimum-knowledge based modulation approaches that can adjust distinct spatial and temporal aspects of random exploration to lead to effective autonomous search under uncertainty.

show abstract

Intrinsic and environmental factors modulating autonomous robotic search under high uncertainty

Garcia-Saura

Serrano

Rodríguez

et al. 2021

Sci Rep

Self Cite

View full text Add to dashboard Cite

show abstract

Multi-UAV Oxyrrhis Marina-Inspired Search and Dynamic Formation Control for Forest Firefighting

Harikumar

Senthilnath

Sundaram

2019

IEEE Trans. Automat. Sci. Eng.

141

View full text Add to dashboard Cite

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Effects of Locomotive Drift in Scale-Invariant Robotic Search Strategies

Cited by 2 publications

References 18 publications

Intrinsic and environmental factors modulating autonomous robotic search under high uncertainty

Intrinsic and environmental factors modulating autonomous robotic search under high uncertainty

Multi-UAV Oxyrrhis Marina-Inspired Search and Dynamic Formation Control for Forest Firefighting

Contact Info

Product

Resources

About