Controlled Mobile Radiation Detection Under Stochastic Uncertainty

Building upon recent insights on the effect of sensor mobility on the detection performance of mobile radiation sensors, this letter analyzes the impact of stochastic noise in the motion of the sensors on their decision-making accuracy. A stochastic optimal control law for the sensors is designed to maximize decision-making performance. Numerical simulations indicate that noisy sensor motion significantly reduces decision-making accuracy, and is especially detrimental to the detection of weak radioactive sources.