Exposure Conscious Path Planning for Equal Exposure Corridors

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Bibliographic Details
Main Authors:	Hamzezadeh, Eugene T., Rogers, John G., Dantam, Neil T., Petruska, Andrew J.
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
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author	Hamzezadeh, Eugene T. Rogers, John G. Dantam, Neil T. Petruska, Andrew J.
author_facet	Hamzezadeh, Eugene T. Rogers, John G. Dantam, Neil T. Petruska, Andrew J.
contents	While maximizing line-of-sight coverage of specific regions or agents in the environment is a well-explored path planning objective, the converse problem of minimizing exposure to the entire environment during navigation is especially interesting in the context of minimizing detection risk. This work demonstrates that minimizing line-of-sight exposure to the environment is non-Markovian, which cannot be efficiently solved optimally with traditional path planning. The optimality gap of the graph-search algorithm A* and the trade-offs in optimality vs. computation time of several approximating heuristics is explored. Finally, the concept of equal-exposure corridors, which afford polynomial time determination of all paths that do not increase exposure, is presented.
format	Preprint
id	arxiv_https___arxiv_org_abs_2403_02450
institution	arXiv
publishDate	2024
record_format	arxiv
spellingShingle	Exposure Conscious Path Planning for Equal Exposure Corridors Hamzezadeh, Eugene T. Rogers, John G. Dantam, Neil T. Petruska, Andrew J. Robotics While maximizing line-of-sight coverage of specific regions or agents in the environment is a well-explored path planning objective, the converse problem of minimizing exposure to the entire environment during navigation is especially interesting in the context of minimizing detection risk. This work demonstrates that minimizing line-of-sight exposure to the environment is non-Markovian, which cannot be efficiently solved optimally with traditional path planning. The optimality gap of the graph-search algorithm A* and the trade-offs in optimality vs. computation time of several approximating heuristics is explored. Finally, the concept of equal-exposure corridors, which afford polynomial time determination of all paths that do not increase exposure, is presented.
title	Exposure Conscious Path Planning for Equal Exposure Corridors
topic	Robotics
url	https://arxiv.org/abs/2403.02450

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