Bad Guys Are Sneaky

The Problem

  • Bad guys can be followed by UAVs, but what if they hide behind something?

The Solution

  • Develop an algorithm that allows one or more UAVs to follow bad guys even through brief periods of being hidden behind buildings, or garbage cans

Optimization

  • Maximize score / #UAVs
    • This penalizes for needing a lot of UAVs

The Algorithm

  • Generate probabilistic future paths
  • Possible actions
    • Wait for the bad guy to come out
    • Plan a path to where we think he's going
    • Let him go because he's not that important

The Algorithm - Watershed

  • Generate a watershed to get the viewable area from any given point
  • Use that to influence the score
  • http://www.redblobgames.com/articles/visibility/

The Algorithm - Likelihood


Scoring

  • Assign importance(p) to different targets
  • Store the amount of time each target was in frame
  • Multiply time in frame by importance
  • Normalize by the score if all targets were in frame for the duration of the test
score_{raw} = \sum_{n=1}^{E} t_n * p_n
scoreraw=n=1Etnpnscore_{raw} = \sum_{n=1}^{E} t_n * p_n
score_{max} = \sum_{n=1}^{E} t_{tot} * p_n
scoremax=n=1Ettotpnscore_{max} = \sum_{n=1}^{E} t_{tot} * p_n
score_{norm} = \dfrac{score_{raw}}{score_{max}}
scorenorm=scorerawscoremaxscore_{norm} = \dfrac{score_{raw}}{score_{max}}

Results

Results

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