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...

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Bibliographic Details
Published in:Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1782 - 1789
Main Authors: Stiffler, Nicholas M., O'Kane, Jason M.
Format: Conference Proceeding
Language:English
Published: IEEE 01.09.2014
Subjects:
Abstracts
Complexity theory
Design automation
Games
Generators
Joints
Polynomials
ISSN:2153-0858
Online Access:Get full text
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Summary: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.
ISSN:2153-0858
DOI:10.1109/IROS.2014.6942796