Probabilistic search: a Bayesian approach in a continuous workspace
Bonnie, Devin A.
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https://hdl.handle.net/2142/29605
Description
Title
Probabilistic search: a Bayesian approach in a continuous workspace
Author(s)
Bonnie, Devin A.
Issue Date
2012-02-06T20:06:21Z
Director of Research (if dissertation) or Advisor (if thesis)
Hutchinson, Seth A.
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Bayesian Search
single robot search
multi robot search
atypical exponential family mixture belief self conjugacy
binary sensor search
Abstract
This thesis considers the problem of modeling search for a single, non-moving target in a continuous environment, where the search agent's only observations are obtained from a binary sensor. To model this problem, the widely used Bayesian filtering approach is employed to obtain the general filtering equations for the posterior distribution representing the object's location over the workspace. Given a likelihood and prior belief belonging to the exponential family class, while using this class's self-conjugacy property, an exact, finite representation of the object posterior is explicitly derived. Though complexity issues may render this exact representation infeasible for computation, regularized particle filtering is utilized to yield a continuous approximation of the object belief. To demonstrate the validity of the search model, a gradient-ascent search strategy is applied with care taken to avoid local maxima. This is done with multiple simulations for various prior distributions. Finally, future work is described for search applications and approximation schemas relevant to the structure of the search model presented.
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