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Randomized Pursuit-Evasion in Graphs [chapter]

Micah Adler, Harald Räcke, Naveen Sivadasan, Christian Sohler, Berthold Vöcking
2002 Lecture Notes in Computer Science  
We analyze a randomized pursuit-evasion game on graphs. This game is played by two players, a hunter and a rabbit. Let be any connected, undirected graph with Ò nodes.  ...  The game is played in rounds and in each round both the hunter and the rabbit are located at a node of the graph.  ...  We improve the deliver time of known protocols, which are based on random walks. Deterministic pursuit-evasion games in graphs are well-studied.  ... 
doi:10.1007/3-540-45465-9_77 fatcat:tbu3nttykjcebb5gtmbo3vkjti

Randomized Pursuit-Evasion in Graphs

2003 Combinatorics, probability & computing  
We analyze a randomized pursuit-evasion game on graphs. This game is played by two players, a hunter and a rabbit. Let G be any connected, undirected graph with n nodes.  ...  The game is played in rounds and in each round both the hunter and the rabbit are located at a node of the graph.  ...  We improve the deliver time of known protocols, which are based on random walks. Deterministic pursuit-evasion games in graphs are well-studied.  ... 
doi:10.1017/s0963548303005625 fatcat:qchhvs5xunhzlcpa2xagjy6p34

Search and pursuit-evasion in mobile robotics

Timothy H. Chung, Geoffrey A. Hollinger, Volkan Isler
2011 Autonomous Robots  
We then list a number of fundamental results in the areas of pursuit-evasion and probabilistic search, and we discuss field implementations on mobile robotic systems.  ...  In addition, we highlight current open problems in the area and explore avenues for future work.  ...  Pursuit-Evasion on Graphs In this section, we review work on two fundamental pursuit-evasion games that take place on graphs.  ... 
doi:10.1007/s10514-011-9241-4 fatcat:i7re3nuyg5fxxfcysmh6imvo7q

Pursuit-evasion in 2.5d based on team-visibility

A Kolling, A Kleiner, M Lewis, K Sycara
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper we present an approach for a pursuit-evasion problem that considers a 2.5d environment represented by a height map.  ...  To the best of our knowledge the presented approach is the first viable solution to 2.5d pursuit-evasion with height maps.  ...  An alternative graph model for robotic pursuit-evasion, called Graph-Clear, is presented in [6] , [7] .  ... 
doi:10.1109/iros.2010.5649270 dblp:conf/iros/KollingKLS10 fatcat:74huln6n2zdtlm5bupinjw5qma

On the complexity of searching for an evader with a faster pursuer

Florian Shkurti, Gregory Dudek
2013 2013 IEEE International Conference on Robotics and Automation  
In this paper we examine pursuit-evasion games in which the pursuer has higher speed than the evader.  ...  In light of this result we provide an experimental comparison of randomized and deterministic search strategies on planar graphs, which has practical significance in search and rescue settings.  ...  node (SPRT), and performing random cycles in the graph (RC).  ... 
doi:10.1109/icra.2013.6631150 dblp:conf/icra/ShkurtiD13 fatcat:3xpvrl25mzaqffhh44gsysgo5i

Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots

Geoffrey Hollinger, Athanasios Kehagias, Sanjiv Singh
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
In this paper, we describe a method for coordinating multiple robots in a pursuit-evasion domain.  ...  We examine the problem of multiple robotic pursuers attempting to locate a non-adversarial mobile evader in an indoor environment.  ...  Adler et al. extended pursuit-evasion on graphs to randomized environments by examining the hunter and rabbit problem [1] .  ... 
doi:10.1109/robot.2007.364072 dblp:conf/icra/HollingerKS07 fatcat:fzingrnngvfiddwysiinvzcxr4

Guest editorial: special issue on search and pursuit-evasion with mobile robots

Geoffrey A. Hollinger, Timothy H. Chung, Volkan Isler
2011 Autonomous Robots  
Search problems (in which the objective is to find possibly mobile targets) and pursuit-evasion games (where one or more pursuers try to capture an evader who, in turn, tries to avoid capture) both have  ...  Beyond these applications, search and pursuit-evasion missions serve as catalysts for robotics research.  ...  The next article "Algorithms and Complexity Results for Graph-Based Pursuit Evasion" by Borie, Tovey, and Koenig provides new results on the computational complexity of pursuit-evasion problems on graphs  ... 
doi:10.1007/s10514-011-9252-1 fatcat:53kvltharjh2to7rwyqen624im

An anti-incursion algorithm for unknown probabilistic adversaries on connected graphs [article]

Jesse Geneson
2017 arXiv   pre-print
We improve this upper bound to approximately 1.95n by modifying the cop's pursuit algorithm.  ...  ., n of a graph using the probability distribution p_1, ..., p_n. A cop pursues the gambler on the graph, only being able to move between adjacent vertices.  ...  Unknown Gambler Pursuit Algorithm Let G be a connected n-vertex graph. As in [5] , let T be a spanning subtree of G.  ... 
arXiv:1701.01599v1 fatcat:vn56vvxkzrgmlcvbya4xhqglpu

Toward Simulating Realistic Pursuit-Evasion Using a Roadmap-Based Approach [chapter]

Samuel Rodriguez, Jory Denny, Takis Zourntos, Nancy M. Amato
2010 Lecture Notes in Computer Science  
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  ...  We demonstrate the utility of this approach for a variety of scenarios including pursuit-evasion on terrains, in multi-level buildings, and in crowds.  ...  These graphs/roadmaps are an essential component for our pursuit/evasion scenarios.  ... 
doi:10.1007/978-3-642-16958-8_9 fatcat:2i63jvj4pzg2bood4lkzhvbghm

A sampling-based approach to probabilistic pursuit evasion

Aditya Mahadevan, Nancy M. Amato
2012 2012 IEEE International Conference on Robotics and Automation  
Pursuit evasion is the problem of planning the motions of one or more agents to effectively track and/or capture an initially unseen evader in an environment.  ...  Probabilistic roadmaps (PRMs) are a samplingbased approach to motion-planning that encodes feasible paths through the environment using a graph created from a subset of valid positions.  ...  Basic Pursuit Evasion Problems The earliest work on pursuit evasion in graphs was done by T.D.  ... 
doi:10.1109/icra.2012.6225217 dblp:conf/icra/MahadevanA12 fatcat:27dhudibmvgkxlih2iopn2fbiu

The role of information in the cop-robber game

Volkan Isler, Nikhil Karnad
2008 Theoretical Computer Science  
In establishing this condition, we present a characterization of graphs on which a natural greedy pursuit strategy suffices for capturing the robber.  ...  This game takes place on a graph and players move along the edges in turns. The cops win the game if they can move onto the robber's vertex.  ...  Acknowledgment This work is supported in part by NSF CCF-0634823 and NSF CNS-0707939. We thank the reviewers for useful comments. We also thank Joao Hespanha for useful discussions on Lemma 10.  ... 
doi:10.1016/j.tcs.2008.02.041 fatcat:72u2kfpsgfbulihadd2hym77ca

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

Nicholas M. Stiffler, Jason M. O'Kane
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with multiple pursuers.  ...  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  ...  Then we compute the adjacency graph for the CAD and construct a Pursuit Evasion Graph (PEG) induced by the adjacency graph.  ... 
doi:10.1109/iros.2014.6942796 dblp:conf/iros/StifflerO14 fatcat:27iw7uesnnhsnmtf5k3sirlhwy

Active Adversarial Evader Tracking with a Probabilistic Pursuer under the Pursuit-Evasion Game Framework [article]

Varun Chandra Jammula, Anshul Rai, Yezhou Yang
2019 arXiv   pre-print
Finally, we empirically show that while a smart pursuer does increase it's average success rate of tracking compared to a random pursuer, there is an increased variance in its success rate distribution  ...  In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor environment with obstacles.  ...  Current research methods focus on various aspects of the pursuit-evasion game.  ... 
arXiv:1904.09307v1 fatcat:7zl32uugcbcwddimzkn5totzhy

Probabilistic and Self-organized Strategies to Coordinate Multiple Robotic Pursuers in the Pursuit of an Adversarial Evaders

Jianying Zheng, Haibin Yu, Wei Liang, Peng Zeng
2008 IFAC Proceedings Volumes  
this paper addresses the problem of coordinating multiple robotic pursuers in tracking and catching an adversarial evader in a dynamic environment.  ...  Finally, we present the simulation results to demonstrate the performance of our algorithm in an indoor environment. The results show that our method can greatly reduce the capture time of the evader.  ...  Section 2 describes related work in the field of pursuit-evasion games.  ... 
doi:10.3182/20080706-5-kr-1001.01760 fatcat:5q5bl6kizjh3db25yzjno6u2oe

Page 772 of Mathematical Reviews Vol. , Issue 90A [page]

1990 Mathematical Reviews  
Nonlinear Dissipative Proof theory for second-order arithmetic Pursuit-evasion differential games, 2 Qualitative and analytic methods in the dynamics of systems Recent advances in speech understanding  ...  Some problems in operator theory Special Issue: Pursuit-evasion differential games, 2 Symmetry 2: unifying human understanding, Part | Symmetry 2: unifying human understanding, Part 2 Special relativity  ... 
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