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Proceedings Paper

Development of an info-gap-based path planner to enable nondeterministic low-observability mobile sensor nodes
Author(s): David Mascareñas; Christopher Stull; Charles Farrar
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Paper 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.

Paper Details

Date Published: 25 May 2012
PDF: 10 pages
Proc. SPIE 8387, Unmanned Systems Technology XIV, 838719 (25 May 2012); doi: 10.1117/12.918619
Show Author Affiliations
David Mascareñas, Los Alamos National Lab. (United States)
Christopher Stull, Los Alamos National Lab. (United States)
Charles Farrar, Los Alamos National Lab. (United States)

Published in SPIE Proceedings Vol. 8387:
Unmanned Systems Technology XIV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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