System and method for automated search by distributed elements
First Claim
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1. A search system comprising:
- a plurality of sensors for detecting an object of interest;
a predictive model which receives an output from at least one of said plurality of sensors, said predictive model for predicting a behavior of said object using a probability distribution in the form of a set of particles; and
a processor for directing a respective sensor to search a unique area of a search space predicted to include the object by said predictive model.
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Abstract
A system and method for decentralized cooperative control of a team of agents for geographic and other search tasks. The approach is behavior-based and uses probability particle approach to the search problem. Agents are attracted to probability distributions in the form of virtual particles of probability that represent hypotheses about the existence of objects of interest in a geographic area or a data-space. Reliance on dependable, high-bandwidth communication is reduced by modeling the movements of other team members and the objects of interest between periodic update messages.
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Citations
40 Claims
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1. A search system comprising:
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a plurality of sensors for detecting an object of interest; a predictive model which receives an output from at least one of said plurality of sensors, said predictive model for predicting a behavior of said object using a probability distribution in the form of a set of particles; and a processor for directing a respective sensor to search a unique area of a search space predicted to include the object by said predictive model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 34, 35, 36, 37, 38)
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14. A system for searching for an object of interest, the system comprising:
a plurality of mobile platforms, each of said plurality of mobile platforms including; a detector mounted on the mobile platform, said detector for detecting the object of interest; and a processor, mounted on the mobile platform, said processor having a plurality of hypothesized identities of the object of interest and having a like plurality of predictive models, one predictive model for each of the plurality of hypothesized identities, said processor for predicting a behavior of the object of interest using a predictive model and in response to said processor predicting a behavior of the object of interest, said processor directs the platform to the object of interest and wherein; the predictive model includes a probability distribution in the form of a set of particles; the predictive model is adapted to receive updates on an identity of the object of interest; and the predictive model moves particles within the set of particles to reflect the behavior of the object of interest. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A search system comprising:
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a plurality of mobile platforms, each of said plurality of mobile platforms comprising; (a) a detector for detecting an object of interest; and (b) a processor for predicting a behavior of the object of interest using a predictive model and, in response to behavior predicted by said processor, for directing the mobile platform on which said processor is disposed to search a unique area of a search space including the object of interest and wherein the predictive model includes a probability distribution in the form of a set of particles and wherein the predictive model moves particles within the set of particles to reflect the behavior of the object of interest. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 39, 40)
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Specification