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A sampling-based algorithm for multi-robot visibility-based pursuit-evasion | IEEE Conference Publication | IEEE Xplore

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


Abstract:

We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with multiple pursuer...Show More

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.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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