Abstract
Research in multi-robot pursuit-evasion demonstrates that three pursuers are sufficient to capture an intruder in a polygonal environment. However, this result requires the confined of the initial location of the intruder within the convex hull of the locations of the pursuers. In this study, we extend this result to alleviate this convexity through the application of a set of virtual goals that are independent of the locations of the pursuers. These virtual goals are solely calculated using the location information of the intruder such that whose locations confine the intruder within their convex hull at every execution cycle. We propose two strategies to coordinate the pursuers. They are the agents votes maximization and the profile matrix permutations strategies. We consider the time, the energy expended, and the distance traveled by the pursuers as metrics to analyze the performance of these strategies in contrast to three different allocation strategies. They are the probabilistic, the leader-follower, and the prioritization coordination strategies.
Similar content being viewed by others
References
Chung, T.H., Hollinger, G.A.: Search and pursuit-evasion in mobile robotics. Auton. Robots 31, 299–316 (2011)
Basar, T., Olsder, G.J.: Dynamic Noncooperative Game Theory. Society for Industrial Mathematics, Philadelphia(1999)
Kim, T.H., Sugie, T.: Cooperative control for target-capturing task based on a cyclic pursuit strategy. Automatica 43(8), 1426–1431 (2007)
Guo, J., Yan, G., Lin, Z.: Cooperative control synthesis for moving-target-enclosing with changing topologies. In: IEEE International Conference on Robotics and Automation (ICRA10) (2010)
Undeger, C., Polat, F.: Multi-agent real-time pursuit. Auton. Agent. Multi-Agent Syst. 21, 69–107 (2010)
Nowakowski, R., Winkler, P.: Vertex-to-vertex pursuit in a graph. Discrete Math. 43(2–3), 235–239 (1983)
Aigner, M., Fromme, M.: A game of cops and robbers. Discrete Appl. Math. 8(1), 1–12 (1984)
Isler, V., Karnad, N.: The role of information in the coprobber game. Theor. Comp. Sci. 3(399), 179–190 (2008). Special issue on graph searching
Jankovic, V.: About a man and lions. Mat. Vesn. 2, 359–361 (1978)
Kopparty, S., Ravishankar, C.V.: A framework for pursuit evasion games in R n . Inf. Process. Lett. 96(3), 114–122 (2005)
Isler, V., Kannan, S., Khanna, S.: Randomized pursuit-evasion in a polygonal environment. IEEE Trans. Robot. 21(5), 875–884 (2005)
Bopardikar, S.D., Bullo, F., Hespanha, J.P.: Sensing limitations in the Lion and Man problem. In: IEEE American Control Conference (2007)
Thunberg, J., Ogren, P.: An iterative mixed integer linear programming approach to pursuit evasion problems in polygonal environment. In: International Conference on Robotics and Automation (ICRA) (2010)
Alspach, B.: Searching and sweeping graphs: a brief survey. Matematiche 59, 5–37 (2004)
Fomin, F.V., Thilikos, D.M.: An annotated bibliography on guaranteed graph searching. Theor. Comp. Sci. 399(3), 236–245 (2008)
Levy, R., Rosenschein, J.: A game theoretic approach to the pursuit problem. In: 11th International Workshop on Distributed Artificial Intelligence (1992)
Harmati, I., Skrzypczyk, K.: Robot team coordination for target tracking using fuzzy logic controller in game theoretic framework. Robot. Auton. Syst. 57, 75–86 (2009)
Shoham, Y., Brown, K.L.: Multiagent Systems: Algorithmic, Game-Theoretic, and Logical Foundations (2009)
Keshmiri, S., Payandeh, S.: Multi-robot target pursuit: towards an opportunistic control architecture. In: 8th International Multi-Conference on Systems, Signals & Devices (SSD11) (2011)
Koopman, B.O.: The theory of search. Part I. Kinematic bases. Oper. Res. 4(5), 324–346 (1956)
Koopman, B.O.: The theory of search. Part II. Target detection. Oper. Res. 4(5), 503–531 (1956)
Assaf, D., Zamir, S.: Optimal sequential search: a Bayesian approach. Ann. Stat. 13(3), 1213–1221 (1985)
Washburn, A.R.: Search for a moving target: the FAB algorithm. Oper. Res. 31(4), 739–751 (1983)
Kupitz, Y., Martini, H.: Geometric aspects of the generalized fermat-torricelli problem. Bolyai Soc. Math. Stud. 6, 55–129 (1997)
Boltyanski, V., Martini, H., Soltan, V.: Geometric Methods and Optimization Problems. Kluwer Academic Publishers, Boston (1999)
Charniak, E.: Bayesian network without tears. AI Mag. 12, 50–63 (1991)
Thrun, S., Fox, D., Burgard, W., Dellaert, F.: Robust monte carlo localization for mobile robots. Artif. Intell. 128, 99–141 (2001)
Borenstein, J., Everett, B., Feng, L.: Navigating Mobile Robots: Systems and Techniques. Wellesley, MA (1996)
Chung, C.F., Furukawa, T.: Coordinated pursuer control using particle filters for autonomous search-and-capture. Robot. Auton. Syst. 57, 700–711 (2009)
Furukawa, T., Bourgault, F., Lavis, B., Durrant-Whyte, H.F.: Recursive bayesian search-and-tracking using coordinated uavs for lost targets. In: IEEE International Conference on Robotics and Automation (ICRA06) (2006)
Amigoni, F., Basilico, N., Gatti, N., Saporiti, A., Troiani, S.: Moving game theoretical patrolling strategies from theory to practice: an usarsim simulation. In: IEEE International Conference on Robotics and Automation (ICRA10) (2010)
Mei, Y., Lu, Y.H., Hu, Y.C., Lee, C.: A case study of mobile robot’s energy consumption and conservation techniques. In: 12th International Conference on Advanced Robotics (ICAR05) (2005)
Thrun, S., Fox, D., Burgard, W., Dellaert, F.: Robust monte carlo localization for mobile robots. Artif. Intell. 128, 99–141 (2001)
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. The MIT Press, Cambridge, MA (2006)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Keshmiri, S., Payandeh, S. On Confinement of the Initial Location of an Intruder in a Multi-robot Pursuit Game. J Intell Robot Syst 71, 361–389 (2013). https://doi.org/10.1007/s10846-012-9792-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-012-9792-4