Development of an info-gap-based path planner to enable nondeterministic low-observability mobile sensor nodes

David Mascareñas; Christopher Stull; Charles Farrar

doi:10.1117/12.918619

25 May 2012 Development of an info-gap-based path planner to enable nondeterministic low-observability mobile sensor nodes

David Mascareñas, Christopher Stull, Charles Farrar

Author Affiliations +

Proceedings Volume 8387, Unmanned Systems Technology XIV; 838719 (2012) https://doi.org/10.1117/12.918619
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

Mobile sensor nodes are an ideal solution for efficiently collecting measurements for a variety of applications. Mobile sensor nodes offer a particular advantage when measurements must be made in hazardous and/or adversarial environments. When mobile sensor nodes must operate in hostile environments, it would be advantageous for them to be able to avoid undesired interactions with hostile elements. It is also of interest for the mobile sensor node to maintain low-observability in order to avoid detection by hostile elements. Conventional path-planning strategies typically attempt to plan a path by optimizing some performance metric. The problem with this approach in an adversarial environment is that it may be relatively simple for a hostile element to anticipate the mobile sensor node's actions (i.e. optimal paths are also often predictable paths). Such information could then be leveraged to exploit the mobile sensor node. Furthermore, dynamic adversarial environments are typically characterized by high-uncertainty and highcomplexity that can make synthesizing paths featuring adequate performance very difficult. The goal of this work is to develop a path-planner anchored in info-gap decision theory, capable of generating non-deterministic paths that satisfy predetermined performance requirements in the face of uncertainty surrounding the actions of the hostile element(s) and/or the environment. This type of path-planner will inherently make use of the time-tested security technique of varying paths and changing routines while taking into account the current state estimate of the environment and the uncertainties associated with it.

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David Mascareñas, Christopher Stull, and Charles Farrar "Development of an info-gap-based path planner to enable nondeterministic low-observability mobile sensor nodes", Proc. SPIE 8387, Unmanned Systems Technology XIV, 838719 (25 May 2012); https://doi.org/10.1117/12.918619

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