作者：
Zhang, Zhongshun;Smereka, Jonathon M.;Lee, Joseph;Zhou, Lifeng;Sung, Yoonchang;...
通讯作者：
Zhongshun Zhang
作者机构：
Department of Computer Science, University of Maryland, College Park, US
U.S. Army CCDC Ground Vehicle Systems Center, Warren, US
Aptiv, Troy, MI, US
Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, US
Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, US
通讯机构：
Department of Computer Science, University of Maryland, College Park, US
语种：
英文
期刊：
Autonomous Robots
ISSN：
0929-5593
年：
2021
卷：
45
期：
2
页码：
283-297
基金类别：
This research was supported in part by the Automotive Research Center (ARC) at the University of Michigan, with funding and support by the Department of Defense under Contract No. W56HZV-14-2-0001.
摘要：
We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial opponent. This introduces a multi-objective version of classical visibility-based target search and pursuit-evasion problem. In our formulation, the agent receives a positive reward for increasing its visibility (by exploring new regions) and a negative penalty every time it is detected by the opponent. The objective is to find a finite-horizon path for the agent that balances the trade off between maximizing visibility and minimizing detectability. We model this problem as a discrete, sequential, two-player, zero-sum gam...
