Exposure Conscious Path Planning for Equal Exposure Corridors

Personal use of this material is permitted. Abstract-- 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 Figure 1: When delivering a package the robot should take the solid in optimality vs. computation time of several approximating black line route over the dashed red one, so as to minimize the heuristics is explored. Finally, the concept of equal-exposure likelihood of being seen by a malicious agent.