Deceptive path-planning

Abstract

Deceptive path-planning involves finding a path such that the probability of an observer identifying its final destination-before it has been reached-is minimised. This paper formalises deception as it applies to path-planning and introduces the notion of a last deceptive point (LDP) which, when measured in terms of path completion, can be used to rank paths by their potential to deceive. Building on recent developments in probabilistic goalrecognition, we propose a formula to calculate an optimal LDP and present strategies for the generation of deceptive paths by both simulation ('showing the false') and dissimulation ('hiding the real').