A visibility-based pursuit-evasion game between two nonholonomic robots in environments with obstacles

In this paper, a visibility-based pursuit-evasion game in an environment with obstacles is addressed. A pursuer wants to maintain the visibility of an evader at all times. Both players are nonholonomic robots shaped like discs. To determine the players’ motion policies and their trajectories–subject...

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Veröffentlicht in:	Autonomous robots Jg. 46; H. 2; S. 349 - 371
Hauptverfasser:	Lozano, Eliezer, Becerra, Israel, Ruiz, Ubaldo, Bravo, Luis, Murrieta-Cid, Rafael
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York Springer US 01.02.2022 Springer Nature B.V
Schlagworte:	Artificial Intelligence Barriers Computer Imaging Control Differential games Engineering Game theory Mechatronics Pattern Recognition and Graphics Players Pursuit-evasion games Robotics Robotics and Automation Robots Surveillance Visibility Vision Motion planning Nonholonomic constraints Algorithms Pursuit-evasion Incomplete information
ISSN:	0929-5593, 1573-7527
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Abstract	In this paper, a visibility-based pursuit-evasion game in an environment with obstacles is addressed. A pursuer wants to maintain the visibility of an evader at all times. Both players are nonholonomic robots shaped like discs. To determine the players’ motion policies and their trajectories–subject to differential constraints–, an RRT* approach that minimizes the time traveled is utilized. The proposed formulation presents an alternative for computing a strategy of persistent surveillance of the evader, difficult to model from a classical differential games perspective given that there is no clear termination condition when the pursuer can maintain the evader’s visibility forever. A sufficient condition to keep evader surveillance is also provided. Additionally, the proposed approach is general because it can be adapted to address a variety of scenarios. To illustrate such flexibility, we address different aspects of the problem: (1) Knowledge of the environment (availability of a global map vs. a local representation). (2) Strategies of the players (execution of optimal strategies vs. deviations from the optimal ones to deceive the opponent). (3) Sensor capabilities (limited vs. unlimited sensor range).
AbstractList	In this paper, a visibility-based pursuit-evasion game in an environment with obstacles is addressed. A pursuer wants to maintain the visibility of an evader at all times. Both players are nonholonomic robots shaped like discs. To determine the players’ motion policies and their trajectories–subject to differential constraints–, an RRT* approach that minimizes the time traveled is utilized. The proposed formulation presents an alternative for computing a strategy of persistent surveillance of the evader, difficult to model from a classical differential games perspective given that there is no clear termination condition when the pursuer can maintain the evader’s visibility forever. A sufficient condition to keep evader surveillance is also provided. Additionally, the proposed approach is general because it can be adapted to address a variety of scenarios. To illustrate such flexibility, we address different aspects of the problem: (1) Knowledge of the environment (availability of a global map vs. a local representation). (2) Strategies of the players (execution of optimal strategies vs. deviations from the optimal ones to deceive the opponent). (3) Sensor capabilities (limited vs. unlimited sensor range).
Author	Lozano, Eliezer Ruiz, Ubaldo Bravo, Luis Becerra, Israel Murrieta-Cid, Rafael
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Cites_doi	10.1007/978-3-642-17452-0_5 10.1007/BFb0036069 10.1109/TRO.2018.2882747 10.1142/S0218195999000273 10.1109/LRA.2019.2931280 10.1109/ROBOT.2005.1570649 10.1177/027836402320556403 10.1007/978-3-642-00312-7_16 10.1007/978-3-030-44051-0_5 10.1109/CDC.2010.5717430 10.1177/0278364908097580 10.1137/1.9781611971132 10.1109/IROS.2004.1389597 10.1109/IROS45743.2020.9341031 10.1177/0278364911415885 10.1109/ICRA.2013.6631297 10.1090/cbms/018 10.1177/0278364915614386 10.23919/FPL.2017.8056773 10.1115/DSCC2017-5379 10.1109/ROBOT.1997.620122 10.1177/0278364911406761 10.1016/j.automatica.2017.12.045 10.1177/0278364907077083 10.1109/TRO.2013.2264868 10.1007/3-540-63307-3_45 10.1007/s10514-020-09963-4 10.1109/CDC40024.2019.9029426 10.1109/ACC.2009.5160610 10.1007/s10514-011-9241-4 10.1007/BFb0036072 10.1007/s10514-015-9477-5 10.1109/TRO.2020.3006716 10.1177/0278364906065023
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Keywords	Motion planning Nonholonomic constraints Algorithms Pursuit-evasion Incomplete information
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References_xml	– reference: RuizUMurrieta-CidRMarroquinJLTime-optimal motion strategies for capturing an omnidirectional evader using a differential drive robotIEEE Transactions on Robotics20132951180119610.1109/TRO.2013.2264868 – reference: Karaman, S., & Frazzoli, E. (2013). Sampling-based optimal motion planning for non-holonomic dynamical systems. In 2013 IEEE international conference on robotics and automation (pp. 5041–5047). – reference: ChungTHHollingerGAIslerVSearch and pursuit-evasion in mobile robotics—A surveyAutonomous Robots201131429931610.1007/s10514-011-9241-4 – reference: Ichnowski, J., & Alterovitz, R. (2018). Concurrent nearest-neighbor searching for parallel sampling-based motion planning in so(3), se(3), and Euclidean topologies. In Algorithmic Foundations of Robotics XIII, WAFR 2018, Mérida México (pp. 69–85). – reference: Latombe, J. C. (1997). Dynamic adaptation of individual perception-action control plans in a heterogeneous team of intelligent mobile agents. Technical Report, STANFORD UNIV CA. – reference: ZhangZSmerekaJMLeeJZhouLSungYTokekarPGame tree search for minimizing detectability and maximizing visibilityAutonomous Robots202145228329710.1007/s10514-020-09963-4 – reference: QureshiAHMiaoYSimeonovAYipMCMotion planning networks: Bridging the gap between learning-based and classical motion plannersIEEE Transactions on Robotics2020371486610.1109/TRO.2020.3006716 – reference: Isler, V., Belta, C., Daniilidis, K., Pappas, G. J. (2004). Hybrid control for visibility-based pursuit-evasion games. In 2004 IEEE/RSJ international conference on intelligent robots and systems, Sendai, Japan, September 28–October 2, 2004 (pp. 1432–1437). – reference: BalkcomDJMasonMTTime optimal trajectories for bounded velocity differential drive vehiclesThe International Journal of Robotics Research200221319921710.1177/027836402320556403 – reference: LaValle, S. M., González-Banos, H., Becker, C., & Latombe, J. C. (1997). 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Snippet	In this paper, a visibility-based pursuit-evasion game in an environment with obstacles is addressed. A pursuer wants to maintain the visibility of an evader...
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SubjectTerms	Artificial Intelligence Barriers Computer Imaging Control Differential games Engineering Game theory Mechatronics Pattern Recognition and Graphics Players Pursuit-evasion games Robotics Robotics and Automation Robots Surveillance Visibility Vision
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Title	A visibility-based pursuit-evasion game between two nonholonomic robots in environments with obstacles
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