A sampling-based algorithm for multi-robot visibility-based pursuit-evasion

We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with multiple pursuers. The inputs for our algorithm are an environment and the initial positions of the pursuers. The output is a joint strategy for t...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems S. 1782 - 1789
Hauptverfasser: Stiffler, Nicholas M., O'Kane, Jason M.
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.09.2014
Schlagworte:
Abstracts
Complexity theory
Design automation
Games
Generators
Joints
Polynomials
ISSN:2153-0858
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with multiple pursuers. The inputs for our algorithm are an environment and the initial positions of the pursuers. The output is a joint strategy for the pursuers that guarantees that the evader has been captured. We create a Sample-Generated Pursuit-Evasion Graph (SG-PEG) that utilizes an abstract sample generator to search the pursuers' joint configuration space for a pursuer solution strategy that captures the evaders. We implemented our algorithm in simulation and provide results.
AbstractList We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with multiple pursuers. The inputs for our algorithm are an environment and the initial positions of the pursuers. The output is a joint strategy for the pursuers that guarantees that the evader has been captured. We create a Sample-Generated Pursuit-Evasion Graph (SG-PEG) that utilizes an abstract sample generator to search the pursuers' joint configuration space for a pursuer solution strategy that captures the evaders. We implemented our algorithm in simulation and provide results.
Author Stiffler, Nicholas M.
O'Kane, Jason M.
Author_xml – sequence: 1
  givenname: Nicholas M.
  surname: Stiffler
  fullname: Stiffler, Nicholas M.
  email: stifflen@cse.sc.edu
  organization: Dept. of Comput. Sci. & Eng., Univ. of South Carolina, Columbia, SC, USA
– sequence: 2
  givenname: Jason M.
  surname: O'Kane
  fullname: O'Kane, Jason M.
  email: jokane@cse.sc.edu
  organization: Dept. of Comput. Sci. & Eng., Univ. of South Carolina, Columbia, SC, USA
BookMark eNotj8lqwzAURVVIoWnqDyjd-AfkvifJkrUMoUNoINBhHSRHSlU8IdmB_H0L9epuzjlwb8mi6ztHyD1CgQj6cfu-_ygYoCikFkxpeUUyrSoUSmupuYAFWTIsOYWqrG5IltIPACAoXWm5JG_rPJl2aEJ3otYkd8xNc-pjGL_b3Pcxb6dmDDT2th_zc0jBhiaMlxkdppimMFJ3Nin03R259qZJLpt3Rb6enz43r3S3f9lu1jsaUJUjtawGz83RSqVQl8LU2mAtmfLeW2UFGnRMgZOVY8iVBMdLDxoE_Bm1d3xFHv67wTl3GGJoTbwc5vv8F_2jUQc
ContentType Conference Proceeding
DBID 6IE
6IH
CBEJK
RIE
RIO
DOI 10.1109/IROS.2014.6942796
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP) 1998-present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 9781479969340
1479969346
EndPage 1789
ExternalDocumentID 6942796
Genre orig-research
GroupedDBID 6IE
6IF
6IH
6IL
6IN
AAJGR
AAWTH
ABLEC
ACGFS
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IJVOP
M43
OCL
RIE
RIL
RIO
RNS
ID FETCH-LOGICAL-i175t-b2c0f3adb6771954ac9a1c627fffb7b41a1e270e68e213760e35f09040b67cfe3
IEDL.DBID RIE
ISICitedReferencesCount 11
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000349834601131&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 2153-0858
IngestDate Wed Aug 27 04:39:58 EDT 2025
IsPeerReviewed false
IsScholarly true
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i175t-b2c0f3adb6771954ac9a1c627fffb7b41a1e270e68e213760e35f09040b67cfe3
PageCount 8
ParticipantIDs ieee_primary_6942796
PublicationCentury 2000
PublicationDate 2014-Sept.
PublicationDateYYYYMMDD 2014-09-01
PublicationDate_xml – month: 09
  year: 2014
  text: 2014-Sept.
PublicationDecade 2010
PublicationTitle Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems
PublicationTitleAbbrev IROS
PublicationYear 2014
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0001079896
Score 2.0088727
Snippet We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with...
SourceID ieee
SourceType Publisher
StartPage 1782
SubjectTerms Abstracts
Complexity theory
Design automation
Games
Generators
Joints
Polynomials
Title A sampling-based algorithm for multi-robot visibility-based pursuit-evasion
URI https://ieeexplore.ieee.org/document/6942796
WOSCitedRecordID wos000349834601131&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LSwMxEA61eNCLj1Z8swePpt1nsjmKWBSlFl_0VpJ0Ugu6W7a7Bf-9k3RpFbx4C0MSwgzDTGa-mSHkIkpirphETYMwoTEISSVLJTVGh8YoAYnLnr898H4_HQ7FoEEuV7UwAODAZ9CxS5fLH-e6sqGyLhNxyAXbIBucs2Wt1jqe4nORunFcaMQiip5EWicxA190754eny2OK-7Ud_wapuJsSW_nf6_YJe11UZ43WJmbPdKAbJ9s_-gn2CL3V95cWoh4NqHWPI09-THJ8fv__umhc-o59CAtcpWXni0qd8DYr3rrrCrm1bSksJA2gtYmr72bl-tbWk9LoFN0AUqqQu2bSI4V49y2cZNayECzkBvkOVdxIAMIuQ8MpRJYKAxEifEFKjGe0AaiA9LM8gwOiYd0JQx-ZFDAKD6tmAq0DAON7oEyEo5Iy7JlNFs2xBjVHDn-m3xCtiznl8CsU9IsiwrOyKZelNN5ce6k-A1A7J79
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LSwMxEA61CurFRxXf7sGjafeZNEcRS0trLVqlt5Kkk7qgu2W7W_Dfm6RLq-DFWwhJCPMRZjLzzQxCN0EUUkG4fmngRzgExjEnTY6Vkr5SgkFko-dvPdrvN0cjNqig21UuDABY8hnUzdDG8iepLIyrrEFY6FNGNtBmFIa-u8zWWntUXMqatiGXVmMB1rZEswxjei5rdJ6fXgyTK6yXp_xqp2K1SWvvf_fYR0frtDxnsFI4B6gCySHa_VFRsIa6d86cG5J4MsVGQU0c_jFNszh__3S0eepY_iDOUpHmjkkrt9TYr3LprMjmRZxjWHDjQztCr62H4X0bl_0ScKyNgBwLX7oq4BNBKDWF3Lhk3JPEp0pLnYrQ4x741AWicfEMGQaCSLlMP2O9QyoIjlE1SRM4QY6eF0zpr4yGWAMoBRGe5L4ntYEgFIdTVDNiGc-WJTHGpUTO_p6-Rtvt4WNv3Ov0u-dox6CwpGldoGqeFXCJtuQij-fZlUX0G7VCokQ
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=Proceedings+of+the+...+IEEE%2FRSJ+International+Conference+on+Intelligent+Robots+and+Systems&rft.atitle=A+sampling-based+algorithm+for+multi-robot+visibility-based+pursuit-evasion&rft.au=Stiffler%2C+Nicholas+M.&rft.au=O%27Kane%2C+Jason+M.&rft.date=2014-09-01&rft.pub=IEEE&rft.issn=2153-0858&rft.spage=1782&rft.epage=1789&rft_id=info:doi/10.1109%2FIROS.2014.6942796&rft.externalDocID=6942796
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2153-0858&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2153-0858&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2153-0858&client=summon