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Visibility-based Pursuit—Evasion with Bounded Speed

Benjamín Tovar, Steven M. LaValle
2008 The international journal of robotics research  
This paper presents an algorithm for a visibility-based pursuit-evasion problem in which bounds on the speeds of the pursuer and evader are given.  ...  The algorithm is at least as powerful as the complete algorithm for the unbounded speed case, and with the knowledge of speed bounds, generates solutions for environments that were previously unsolvable  ...  This is one of the reasons why the speed bounds have been ignored for visibility-based pursuit-evasion. The visibility-based pursuit-evasion problem was proposed in [15] .  ... 
doi:10.1177/0278364908097580 fatcat:duwhmrohnneg5n55v6m4yk5wie

Visibility-Based Pursuit-Evasion with Bounded Speed [chapter]

Benjamín Tovar, Steven M. LaValle
Springer Tracts in Advanced Robotics  
This paper presents an algorithm for a visibility-based pursuit-evasion problem in which bounds on the speeds of the pursuer and evader are given.  ...  The algorithm is at least as powerful as the complete algorithm for the unbounded speed case, and with the knowledge of speed bounds, generates solutions for environments that were previously unsolvable  ...  This is one of the reasons why the speed bounds have been ignored for visibility-based pursuit-evasion. The visibility-based pursuit-evasion problem was proposed in [15] .  ... 
doi:10.1007/978-3-540-68405-3_30 fatcat:a7vnupr6evhuhkjnwm2iqpyxcu

Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation

R. Vidal, O. Shakernia, H.J. Kim, D.H. Shim, S. Sastry
2002 IEEE Transactions on Robotics and Automation  
We present both simulation and experimental results of real pursuit-evasion games involving our fleet of UAVs and UGVs, and evaluate the pursuit policies relating expected capture times to the speed and  ...  We cast the problem in a probabilistic game theoretical framework, and consider two computationally feasible greedy pursuit policies: local-max and global-max.  ...  The higher speed of E1 allows it to move away from the visibility region of P2 for , but E1 soon moves into the visibility region of P3 and is quickly captured.  ... 
doi:10.1109/tra.2002.804040 fatcat:4r6pzchs2rcvlp6yucu4erqp2i

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.  ...  The resulting visibility-based pursuit-evasion problem is as follows.  ...  Fig. 7 7 Visibility-based pursuit-evasion examples. The environment on the left can be cleared by a single searcher with unlimited visibility.  ... 
doi:10.1007/s10514-011-9241-4 fatcat:i7re3nuyg5fxxfcysmh6imvo7q

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
In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor environment with obstacles.  ...  to evader speed ratios.  ...  For the visibility based variant, where both pursuer and evader are holonomic with bounded speeds and both have complete knowledge of the map, Bhattacharya et al.  ... 
arXiv:1904.09307v1 fatcat:7zl32uugcbcwddimzkn5totzhy

A complete algorithm for visibility-based pursuit-evasion with multiple pursuers

Nicholas M. Stiffler, Jason M. O'Kane
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
We introduce a centralized algorithm for a visibility-based pursuit-evasion problem in a two-dimensional environment for the case of multiple pursuers.  ...  Then after computing the adjacency graph for the CAD we construct a Pursuit Evasion Graph(PEG) induced by the adjacency graph.  ...  One avenue of future work is providing a hardness result for the visibility-based pursuit-evasion problem.  ... 
doi:10.1109/icra.2014.6907074 dblp:conf/icra/StifflerO14 fatcat:puiss4rcgjgf3oeiqbrzmvujni

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  
This scenario is motivated by visibility-based pursuit-evasion problems, particularly by the question of what happens when the pursuer loses visual track of the moving evader.  ...  In this paper we examine pursuit-evasion games in which the pursuer has higher speed than the evader.  ...  The majority of existing approaches to visibility-based pursuit-evasion problems focus on pursuer strategies that consistently maintain visual contact with the evader, assuming that they both share the  ... 
doi:10.1109/icra.2013.6631150 dblp:conf/icra/ShkurtiD13 fatcat:3xpvrl25mzaqffhh44gsysgo5i

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Xiao Liang, Honglun Wang, Haitao Luo
2020 Complexity  
The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in  ...  complex three-dimensional (3D) polygonal environment, which is large enough but with boundary.  ...  In pursuit-evasion game, the working process of UAV/UGV heterogeneous system is described as follows: UAV flies in the air with high speed and top view.  ... 
doi:10.1155/2020/7498740 doaj:d3a6b9c237a2426f9633ee1c1f1c546c fatcat:yvtjv5vq7bbmppagcfx3zhtspi

Catch Me If You Can: Pursuit and Capture in Polygonal Environments with Obstacles

Kyle Klein, Subhash Suri
2021 PROCEEDINGS OF THE THIRTIETH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE AND THE TWENTY-EIGHTH INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE  
We resolve a several-years old open question in visibility-based pursuit evasion: how many pursuers are needed to capture an evader in an arbitrary polygonal environment with obstacles?  ...  The evader is assumed to be adversarial, moves with the same maximum speed as pursuers, and is "sensed" by a pursuer only when it lies inline-of-sight of that pursuer.  ...  This matches the best bound known for just detecting an evader (a simpler problem) in the visibility-based pursuit.  ... 
doi:10.1609/aaai.v26i1.8375 fatcat:5j7e47rz4nb35h4nifibkrchmy

Randomized pursuit-evasion in a polygonal environment

V. Isler, S. Kannan, S. Khanna
2005 IEEE Transactions on robotics  
First, we revisit the well-known visibility-based pursuit-evasion problem, and show that in contrast to deterministic strategies, a single pursuer can locate an unpredictable evader in any simply connected  ...  First, we revisit the well-known visibility-based pursuit-evasion problem, and show that in contrast to deterministic strategies, a single pursuer can locate an unpredictable evader in any simply connected  ...  In this paper, we propose randomized pursuer strategies for the visibility-based pursuit-evasion problem.  ... 
doi:10.1109/tro.2005.851373 fatcat:6uo7kuvvhrgkref6wgxvtu5qri

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  ...  The specific problem we consider is a visibility-based pursuit-evasion problem that utilizes a team of pursuers.  ... 
doi:10.1109/iros.2014.6942796 dblp:conf/iros/StifflerO14 fatcat:27iw7uesnnhsnmtf5k3sirlhwy

On the Optimal Policies for Visibility-Based Target Tracking [article]

Rui Zou, Hamid Emadi, Sourabh Bhattacharya
2016 arXiv   pre-print
In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles.  ...  We propose techniques to construct a "pursuit field" based on the optimal solutions to guide the motion of the observer in a general environment.  ...  Visibility-based pursuit-evasion game between two holonomic agents in an environment with obstacles are investigated in [19] , [7] , [20] .  ... 
arXiv:1611.04613v1 fatcat:lgmcy4z2knbphp2rd6nf7a45aq

Near-optimal autonomous pursuit evasion for nonholonomic wheeled mobile robot subject to wheel slip

Yu Tian, Jadav Das, Nilanjan Sarkar
2010 2010 IEEE International Conference on Robotics and Automation  
In this work we present a new dynamics-based approach to pursuit evasion problem in the presence of wheel slip.  ...  pursuit evasion scenario.  ...  Classical P-E with kinematics 8.7 Feedback control-based P-E 10.12 Near-optimal P-E 6.8 Fig. 1 . 1 Pursuit evasion paths: red line is evader's path; dashed blue curve is pursuer's path. of F 3 .  ... 
doi:10.1109/robot.2010.5509631 dblp:conf/icra/TianDS10 fatcat:2fjhkcye3re6rkimiw3xs7veim

Pursuit and evasion in non-convex domains of arbitrary dimensions

S. Alexander, R. Bihsop, R. Ghrist
2006 Robotics: Science and Systems II  
Most results in pursuit-evasion games apply only to planar domains or perhaps to higher-dimensional domains which must be convex.  ...  We introduce a very general set of techniques to generalize and extend certain results on simple pursuit to non-convex domains of arbitrary dimension which satisfy a coarse curvature condition (the CAT  ...  The third author wishes to thank Volkan Isler for a primer on known results for pursuit-evasion games.  ... 
doi:10.15607/rss.2006.ii.015 dblp:conf/rss/AlexanderBG06 fatcat:l2uk6kkgobdjlj7lcejjqjzszu

Visibility Induction for Discretized Pursuit-Evasion Games

Ahmed Abdelrazek, Hazem El-Alfy
2021 PROCEEDINGS OF THE THIRTIETH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE AND THE TWENTY-EIGHTH INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE  
We study a two-player pursuit-evasion game, in which an agent moving amongst obstacles is to be maintained within "sight" of a pursuing robot.  ...  Finally, if it is determined that the evader wins, we compute its optimal escape trajectory and the corresponding optimal pursuit trajectory.  ...  The main contribution of this paper is the development of an algorithm that enhances recent results in AI planning and visibility-based pursuit-evasion to tackle the computationally prohibitive task of  ... 
doi:10.1609/aaai.v26i1.8390 fatcat:7fc3x5dgurc53ninvl2dpiyalm
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