A provably complete exploration strategy by constructing Voronoi diagrams

Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus

doi:10.1007/s10514-010-9200-5

Cited by 33 publications

(41 citation statements)

References 35 publications

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“…The obstacle boundaries are shown in thick red curves in Figure 7. We build the Voronoi edge (green circles in Figure 7) using the exploration algorithms in the study by Kim et al 44 Figure 8 shows the weight of each Voronoi edge. Each Voronoi edge has its associated number as depicted in Figure 7.…”

Section: Matlab Simulationsmentioning

confidence: 99%

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Intruder capture algorithms considering visible intruders

Kim

2019

International Journal of Advanced Robotic Systems

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In this article, we consider the problem of using multiple robots (searchers) to capture intruders in an environment. Assume that a robot can access the position of an intruder in real time, that is, an intruder is visible by a robot. We simplify the environment so that robots and worst-case intruders move along a weighted graph, which is a topological map of the environment. In such settings, a worst-case intruder is characterized by unbounded speed, complete awareness of searcher location and intent, and full knowledge of the search environment. The weight of an edge or a vertex in a weighted graph is a cost describing the clearing requirement of the edge or the vertex. This article provides nonmonotone search algorithms to capture every visible intruder. Our algorithms are easy to implement, thus are suitable for practical robot applications. Based on the non-monotone search algorithms, we derive the minimum number of robots required to clear a weighted tree graph. Considering a general weighted graph, we derive bounds for the number of robots required. Finally, we present switching algorithms to improve the time efficiency of capturing intruders while not increasing the number of robots. We verify the effectiveness of our approach using MATLAB simulations.

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Section: Matlab Simulationsmentioning

confidence: 99%

“…Whenever g f visits Figure 7. We build the Voronoi edge (green circles) using the exploration algorithms in the study by Kim et al 44 Edge number a Voronoi vertex, the intruder moves along T i with unbounded speed to maximize its distance from g f . Since T i is a tree, the intruder must be captured in finite time.…”

Section: Matlab Simulationsmentioning

confidence: 99%

Intruder capture algorithms considering visible intruders

Kim

2019

International Journal of Advanced Robotic Systems

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“…Note that both SCN algorithm in this article and the algorithm in Kim et al 6 do not require that a robot stores the adjacency matrix associated to all vertices. Our article extends Kim et al's 6 work to multi-robot exploration and networking by letting multiple robots construct the sensor network in a cooperative manner. The multi-robot networking strategy in Kim et al 5 requires that a robot stores the adjacency matrix associated to all vertices.…”

Section: Related Workmentioning

confidence: 99%

Workspace exploration and protection with multiple robots assisted by sensor networks

Kim

2018

International Journal of Advanced Robotic Systems

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This article introduces multi-robot strategies making multiple robots explore an unknown environment in a cooperative manner. Our exploration strategies do not require global localization of a robot or a node. Multiple robots build a Voronoi diagram as a topological map of the environment, while deploying sensor nodes which can sense and communicate. As the sensor network built by one robot meets the network built by another robot, both robots can exchange data with each other. The robots then use the merged sensor network to protect the environment. We introduce an intruder capture algorithm assuming that a robot is able to access any intruder's location utilizing the sensor network. This algorithm is robust to time delay in information sharing utilizing the sensor network. Utilizing the algorithm, we derive upper bounds on the number of robots needed to capture every intruder in the environment. This article proves that the minimum number of robots needed can be computed by finding proper edge covers of the dual graph of the Voronoi diagram.

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“…For instance, wall following strategies are simple ways to collect segments of the movement space border, which are presented in [13]. [11] presents a trajectory-based exploration strategy by constructing Voronoi diagrams. This solution relies on the pervasively distributed obstacles in the exploration space.…”

Section: Related Workmentioning

confidence: 99%

A Scouting Strategy for Real-Time Strategy Games

Chen

Pisan

Tan

2014

Proceedings of the 2014 Conference on Interactive Entertainment

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Real-time strategy (RTS) is a sub-genre of strategy video games. RTS games are more realistic with dynamic and time-constraint game playing, by abandoning the turn-based rule of its ancestors. Playing with and against computer-controlled players is a pervasive phenomenon in RTS games, due to the convenience and the preference of groups of players. Hence, better game-playing agents are able to enhance game-playing experience by acting as smart opponents or collaborators. One-way of improving gameplaying agents' performance, in terms of their economicexpansion and tactical battlefield-arrangement aspects, is to understand the game environment. Traditional commercial RTS game-playing agents address this issue by directly accessing game maps and extracting strategic features. Since human players are unable to access the same information, this is a form of "cheating AI", which has been known to negatively affect player experiences. Thus, we develop a scouting mechanism for RTS game-playing agents, in order to enable game units to explore game environments automatically in a realistic fashion. Our research is grounded in prior robotic exploration work by which we present a hierarchical multi-criterion decision-making (MCDM) strategy to address the incomplete information problem in RTS settings.

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A provably complete exploration strategy by constructing Voronoi diagrams

Cited by 33 publications

References 35 publications

Intruder capture algorithms considering visible intruders

Intruder capture algorithms considering visible intruders

Workspace exploration and protection with multiple robots assisted by sensor networks

A Scouting Strategy for Real-Time Strategy Games

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