An optimal two-stage graphical search planning procedure for submerged targets

The graphical methods presented by Koopman [1,2] in the classical stationary search theory are extended to a two-stage search of a submerged target, subject to an overall budgetary constraint and with possible budget transfer between the stages. An algorithm, based on the technique for computing the highest posterior density region (hpd) in Bayesian statistics, developed by the authors, and an associated computer code, are provided to permit a convenient and precise graphical solution to the problem, instead of using the usual analytic approach. A numerical example, formulated under realistic hypotheses, illustrates the various capabilities of this code.