Abstract
In this work, we describe an approach for modeling and simulating group behaviors for pursuit-evasion that uses a graph-based representation of the environment and integrates multi-agent simulation with roadmap-based path planning. We demonstrate the utility of this approach for a variety of scenarios including pursuit-evasion on terrains, in multi-level buildings, and in crowds.
Keywords
This research supported in part by NSF awards CRI-0551685, CCF-0833199, CCF-0830753, IIS-096053, IIS-0917266, NSF/DNDO award 2008-DN-077-ARI018-02, by the DOE NNSA under the Predictive Science Academic Alliances Program by grantDE-FC52-08NA28616, by THECB NHARP award 000512-0097-2009, by Chevron, IBM, Intel, HP, Oracle/Sun and by King Abdullah University of Science and Technology (KAUST) Award KUS-C1-016-04.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Amato, N.M., Bayazit, O.B., Dale, L.K., Jones, C.V., Vallejo, D.: OBPRM: An obstacle-based PRM for 3D workspaces. In: Robotics: The Algorithmic Perspective, Natick, MA, pp. 155–168. A.K. Peters, Wellesley (1998); Proc. Third Workshop on Algorithmic Foundations of Robotics (WAFR), Houston, TX (1998)
Bayazit, O.B., Lien, J.-M., Amato, N.M.: Better flocking behaviors using rule-based roadmaps. In: Proc. Int. Workshop on Algorithmic Foundations of Robotics (WAFR), pp. 95–111 (December 2002)
Bayazit, O.B., Lien, J.-M., Amato, N.M.: Better group behaviors in complex environments using global roadmaps. Artif. Life, 362–370 (December 2002)
Bayazit, O.B., Lien, J.-M., Amato, N.M.: Roadmap-based flocking for complex environments. In: Proc. Pacific Graphics, pp. 104–113 (October 2002)
Burgard, W., Moors, M., Fox, D., Simmons, R., Thrun, S.: Collaborative multi-robot exploration. In: Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 476–481 (2000)
Durham, J.W., Franchi, A., Bullo, F.: Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration. In: Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 3562–3568 (2010)
Gerkey, B.P., Thrun, S., Gordon, G.: Visibility-based pursuit-evasion with limited field of view. Int. J. Robot. Res. 25(4), 299–315 (2006)
Guibas, L.J., Latombe, J.c., Lavalle, S.M., Lin, D., Motwani, R.: Visibility-based pursuit-evasion in a polygonal environment. International Journal of Computational Geometry and Applications, 17–30 (1997)
Isler, V., Kannan, S., Khanna, S.: Randomized pursuit-evasion with limited visibility. In: Proc. ACM-SIAM Symposium on Discrete Algorithms, pp. 1060–1069 (2004)
Isler, V., Sun, D., Sastry, S.: Roadmap based pursuit-evasion and collision avoidance. In: Proc. Robotics: Sci. Sys., RSS (2005)
Kavraki, L.E., Švestka, P., Latombe, J.C., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robot. Automat. 12(4), 566–580 (1996)
Kim, H.J., Vidal, R., Shim, D.H., Shakernia, O., Sastry, S.: A hierarchical approach to probabilistic pursuit-evasion games with unmanned ground and aerial vehicles. In: Proc. IEEE Conf. on Decision and Control, pp. 634–639 (2001)
Kolling, A., Carpin, S.: Multi-robot pursuit-evasion without maps. In: Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 3045–3051 (2010)
Kolling, A., Kleiner, A., Lewis, M., Sycara, K.: Solving pursuit-evasion problems on height maps. In: IEEE International Conference on Robotics and Automation (ICRA 2010) Workshop: Search and Pursuit/Evasion in the Physical World: Efficiency, Scalability, and Guarantees (2010)
Kolling, A., Carpin, S.: Pursuit-evasion on trees by robot teams. Trans. Rob. 26(1), 32–47 (2010)
Lavalle, S.M., Lin, D., Guibas, L.J., Latombe, J.c., Motwani, R.: Finding an unpredictable target in a workspace with obstacles. In: Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 737–742 (1997)
Parsons, T.D.: Pursuit-evasion in a graph. In: Theory and Applications of Graphs. Lecture Notes in Mathematics, vol. 642, pages 426–441. Springer, Heidelberg (1978)
Reynolds, C.W.: Flocks, herds, and schools: A distributed behavioral model. In: Computer Graphics, pp. 25–34 (1987)
Sud, A., Andersen, E., Curtis, S., Ming, L., Manocha, D.: Real-time path planning for virtual agents in dynamic environments. In: Virtual Reality Conference (March 2007)
Tovar, B., Murrieta-Cid, R., LaValle, S.M.: Distance-optimal navigation in an unknown environment without sensing distances. IEEE Transactions on Robotics 23(3), 506–518 (2007)
Treuille, A., Cooper, S., Popovi, Z.: Continuum crowds. ACM Trans. Graph. 25(3), 1160–1168 (2006)
van den Berg, J., Patil, S., Sewall, J., Manocha, D., Lin, M.: Interactive navigation of multiple agents in crowded environments. In: Proc. Symposium on Interactive 3D Graphics and Games - I3D 2008 (2008)
Wilmarth, S.A., Amato, N.M., Stiller, P.F.: MAPRM: A probabilistic roadmap planner with sampling on the medial axis of the free space. In: Proc. IEEE Int. Conf. Robot. Autom. (ICRA), vol. 2, pp. 1024–1031 (1999)
Yamauchi, B.: Frontier-based exploration using multiple robots. In: International Conference on Autonomous Agents (Agents 1998), pp. 47–53 (1998)
Yu, J., LaValle, S.M.: Probabilistic shadow information spaces. In: Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 3543–3549 (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Rodriguez, S., Denny, J., Zourntos, T., Amato, N.M. (2010). Toward Simulating Realistic Pursuit-Evasion Using a Roadmap-Based Approach. In: Boulic, R., Chrysanthou, Y., Komura, T. (eds) Motion in Games. MIG 2010. Lecture Notes in Computer Science, vol 6459. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16958-8_9
Download citation
DOI: https://doi.org/10.1007/978-3-642-16958-8_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16957-1
Online ISBN: 978-3-642-16958-8
eBook Packages: Computer ScienceComputer Science (R0)