Draw a BN structure design.

You will model a problem domain involving autonomous mobile robots participating in perimeter patrolling using a BN in Netica. We will consider the setting where a team of two mobile robots, i and j, are tasked with tracking a fugitive hiding among civilians.

Let the operation theater be a grid of 4 4 sectors. Robots i and j recognize the fugitive using face recognition software, which tends to be 80% accurate (ie. the probability of the fugitive being correctly recognized is 0.80, as is the probability of a non-fugitive being correctly not recognized.) Having received specific intelligence, the fugitive is also identified using the clothes that he is wearing. However, this way of identifying the fugitive is only 75% accurate at best. Robot i must also keep away from j in order to cover the maximum ground. A robot may receive a proximity signal when another robot is within a Manhattan distance of 2 sectors. The likelihood of this signal is 95% when the distance is less than or 1 sector but gets weaker with the likelihood falling to 80% when the distance is 2 sectors. Finally, the fugitives strategy is to keep the robot j in its sight, without itself being seen. Hence, he will always be within a horizontal or vertical distance of 1 sector from js location with each location being equiprobable. Please use your best judgment in entering probabilities not specified above.

(This is a single timestep BN and so the robots do not move. Each robot (UAV) is hovering above the operation theater and can view all sectors at once. Therefore, it can make observations in multiple sectors. Facial and clothing recognition can happen in any of the sectors and these are two different sensors, so it can happen simultaneously. )