Optimal Distributed Searching in the Plane with and without Uncertainty

TL;DR

This paper develops an optimal search strategy for multiple robots in the plane, considering idealized and realistic scenarios, with applications to search and rescue missions involving drones and vessels.

Contribution

It introduces a mathematically optimal search strategy for multiple agents and adapts it to realistic conditions like variable speeds and detection probabilities.

Findings

Optimal search strategy derived for k robots from a common origin.

The idealized model remains effective under realistic conditions with minor adjustments.

Strategies are applicable to search and rescue operations with drones and vessels.

Abstract

We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more recently by swarms of aerial drones and/or unmanned surface vessels. Coordinating such a search in an effective manner is a non trivial task. In this paper, we develop first an optimal strategy for searching with k robots starting from a common origin and moving at unit speed. We then apply the results from this model to more realistic scenarios such as differential search speeds, late arrival times to the search effort and low probability of detection under poor visibility conditions. We show that, surprisingly, the theoretical idealized model still governs the search with certain suitable minor adaptations.