The application of ‘optimal search’ to marine mapping

This paper discusses the application of `optimal search,' an optimization framework developed by the US Navy to optimize sonar-based search and rescue operations, to marine mapping tasks. In contrast to path planning methods which focus on maximizing area coverage, optimal search seeks to directly optimize expected sensor performance over a region, through consideration of vehicle dynamics, sensor intake rates, and the distribution of regions of interest. This paper describes a specific framework for optimal search which explores some of the opportunities the framework provides for refining the performance of marine mapping path plans.