Intermittent Information-Driven Search for Underwater Targets

Abstract: The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero. The paper develops an intermittent information-driven search strategy, which combines fast and non-receptive displacement phase (ballistic phase) with a slow displacement sensing phase. Decisions where to move next, both in the ballistic phase and the slow displacement phase, are information-driven: they maximise the expected information gain. The paper demonstrates the efficiency of the proposed strategy in the context of a search for underwater targets: the searcher is an autonomous amphibious drone which can both fly and land or takeoff from the sea surface.