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

Pursuit-evasion with fixed beams

“…Although, at a very high level, the structure of the algorithm follows the same form as existing algorithms for related problems [4], [5], [32], this algorithm differs substantially in its important details. The intuition is to keep track, using a small collection of boolean labels, of which portions of the environment might contain the evader if it has not yet been detected.…”

“…3) Multiple Pursuer Visibility-Based Pursuit-Evasion: As a result of the problem complexity, there is a wide range of literature with differing techniques attempting to solve the multi-robot visibility-based pursuit-evasion problem [32], [33]. Some recent results involve using some of the pursuers as stationary sentinels while other pursuers continue with the search [12].…”

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

“…Portions of this section appear in the authors' prior work [23] and are included here for completeness.…”

“…The authors considered the multiple pursuer visibilitybased pursuit-evasion problem [23] in the past. In that work, we introduced a centralized algorithm for computing a pursuer solution strategy.…”

“…Computing a New Label: In the authors' prior work[23], we provided a family of polynomials that capture where critical changes can occur to the region of the environment hidden from the pursuers. Although complete, the quantity and complexity of the polynomials (there are O n 3 m 3 polynomials, where n corresponds to the number of pursuers and m corresponds to the number of environment vertices) in this family makes the task of analytically identifying whereAlgorithm 1 ADDEDGE(v, v ′ )Input: a source vertex v and a target vertex v ′ 1: for each label in v's reachable set do 2:…”