Probabilistically Faulty Searching on a Half-Line
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We study p-Faulty Search, a variant of the classic cow-path optimization problem, where a unit speed robot searches the half-line (or 1-ray) for a hidden item. The searcher is probabilistically faulty, and detection of the item with each visitation is an independent Bernoulli trial whose probability of success p is known. The objective is to minimize the worst case expected detection time, relative to the distance of the hidden item to the origin. A variation of the same problem was first proposed by Gal in 1980. Then in 2003, Alpern and Gal [The Theory of Search Games and Rendezvous] proposed a so-called monotone solution for searching the line (2-rays); that is, a trajectory in which the newly searched space increases monotonically in each ray and in each iteration. Moreover, they conjectured that an optimal trajectory for the 2-rays problem must be monotone. We disprove this conjecture when the search domain is the half-line (1-ray). We provide a lower bound for all monotone algorithms, which we also match with an upper bound. Our main contribution is the design and analysis of a sequence of refined search strategies, outside the family of monotone algorithms, which we call t-sub-monotone algorithms. Such algorithms induce performance that is strictly decreasing with t, and for all p ∈ (0,1). The value of t quantifies, in a certain sense, how much our algorithms deviate from being monotone, demonstrating that monotone algorithms are sub-optimal when searching the half-line.
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