Open Access
December 2012 Optimal obstacle placement with disambiguations
Vural Aksakalli, Elvan Ceyhan
Ann. Appl. Stat. 6(4): 1730-1774 (December 2012). DOI: 10.1214/12-AOAS556


We introduce the optimal obstacle placement with disambiguations problem wherein the goal is to place true obstacles in an environment cluttered with false obstacles so as to maximize the total traversal length of a navigating agent (NAVA). Prior to the traversal, the NAVA is given location information and probabilistic estimates of each disk-shaped hindrance (hereinafter referred to as disk) being a true obstacle. The NAVA can disambiguate a disk’s status only when situated on its boundary. There exists an obstacle placing agent (OPA) that locates obstacles prior to the NAVA’s traversal. The goal of the OPA is to place true obstacles in between the clutter in such a way that the NAVA’s traversal length is maximized in a game-theoretic sense. We assume the OPA knows the clutter spatial distribution type, but not the exact locations of clutter disks. We analyze the traversal length using repeated measures analysis of variance for various obstacle number, obstacle placing scheme and clutter spatial distribution type combinations in order to identify the optimal combination. Our results indicate that as the clutter becomes more regular (clustered), the NAVA’s traversal length gets longer (shorter). On the other hand, the traversal length tends to follow a concave-down trend as the number of obstacles increases. We also provide a case study on a real-world maritime minefield data set.


Download Citation

Vural Aksakalli. Elvan Ceyhan. "Optimal obstacle placement with disambiguations." Ann. Appl. Stat. 6 (4) 1730 - 1774, December 2012.


Published: December 2012
First available in Project Euclid: 27 December 2012

zbMATH: 06141546
MathSciNet: MR3058682
Digital Object Identifier: 10.1214/12-AOAS556

Keywords: Canadian traveler’s problem , repeated measures analysis of variance , spatial point process , stochastic obstacle scene , stochastic optimization

Rights: Copyright © 2012 Institute of Mathematical Statistics

Vol.6 • No. 4 • December 2012
Back to Top