Bayesian-Based Search Decision Framework and Search Strategy Analysis in Probabilistic Search

Table 4

Performance comparisons in three different scenarios.

Evaluation parameters	Scenario a	Scenario b	Scenario c
E[TTDs]myopic	60.03	61.62	61.86
E[TTDc]myopic	68.32	69.33	69.67
Pmyopic	97.85%	96.80%	95.86%
E[TTDs]saccadic	69.04	71.61	72.35
E[TTDc]saccadic	413.36	502.21	603.33
Psaccadic	97.88%	96.89%	96.02%
E[TTDs]improved saccadic	40.22	55.32	60.14
E[TTDc]improved saccadic	330.65	405.44	500.21
Pimproved saccadic	98.10%	97.85%	97.35%

Scenario a: the search agent starts at the same location. Scenario b: the search agent starts from a local peak in a priori graph with multiple peaks. Scenario c: the search agent starts from the grid with the lowest confidence in the initial belief map.