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’)