Optimal Motion Planning for Searching for Uncertain Targets

Abstract

This paper explores the potential for applying newly available numerical methods in optimal control to solve motion planning problems created by the search for targets with motion uncertainty characterized by constant but unknown parameters. These recent developments enable the e cient computation of numerical solutions for search problems with multiple searchers, nonlinear dynamics, and a broad class of objectives. We demonstrate the e cacy of these methods through implementing a multi-agent optimal search problem. We then derive an expansion of the optimal search modeling framework which facilitates the consideration of multi-agent searching problems with more general strategic objectives and utilize this expanded framework to implement an example combat defense scenario.