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<article-title>Moving Target Search in Grid Worlds</article-title>
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<author><a href="mailto:cundeger@stm.com.tr"><name>Cagatay Undeger</name></a></author>
<aff>Savunma Teknolojileri Muhendislik ve Tic.A.S., Kafkas Sk. No:56, Bestepe, 06510, Ankara, Turkey</aff>

<author><a href="mailto:polat@ceng.metu.edu.tr"><name>Faruk Polat</name></a></author>
<aff>Department of Computer Engineering, Middle East Technical University, 06531, Ankara, Turkey</aff>
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<title>ABSTRACT</title>
<p>In this paper, we propose a real-time moving target search algorithm for dynamic and partially observable environments, modeled as grid world. The proposed algorithm, Real-time Moving Target Evaluation Search (MTES), is able to detect the closed directions around the agent, and determine the best direction that avoids the nearby obstacles, leading to a moving target which is assumed to be escaping almost optimally. We compared our proposal with Moving Target Search (MTS) and observed a significant improvement in the solution paths. Furthermore, we also tested our algorithm against A<sup>*</sup> in order to report quality of our solutions.</p>
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