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

Stiffler, Nicholas M.; O’Kane, Jason M.

doi:10.1109/iros.2014.6942796

Cited by 20 publications

(22 citation statements)

References 33 publications

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“…Blue grid areas represent the fixed area that underwater robots perform a pursuit task. In the experiment, there are five underwater robots performing the synergy search tasks in a fixed area of 800* 400m 2 . At some time, the target begins to enter into the fixed areas to perform reconnaissance missions.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Research on Synergy Pursuit Strategy of Multiple Underwater Robots

Jia

et al. 2019

J Intell Robot Syst

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This paper presents a synergy pursuit strategy that multiple underwater robots pursue a single moving target based on finite state machine. The processes of the pursuit are defined as seven different states, and to implement each state, the corresponding strategies are designed. As the strategy for each state is implemented by a corresponding formation control, a synergy control law is also designed for multiple underwater robots. In the design of the pursuit strategy, the definition of encirclement is put forward for the underwater robots. Furthermore, the proof that a point is encircled by other points on the plane is given. To solve the problem of the concealment in the tracking and the pursuit, a semicircular pursuit strategy and a circular pursuit strategy are also proposed. Finally, based on this pursuit strategy, the simulation of whole process is carried out with the MOOS(Mission Oriented Operating Suite) platform, and the effectiveness of the semicircular and circular pursuit strategy are verified by lake experiment with practical robots. The results of simulation and lake experiment prove that this pursuit strategy can realize synergy tracking and pursuit for a single moving target under the given conditions.

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Section: Simulation Resultsmentioning

confidence: 99%

“…Pursuit problem [1][2][3][4][5][6][7][8][9][10][11][12][13] is one of the hot spots in the field of artificial intelligence, and it is also a typical problem to study the cooperation and confrontation of multiple robots. Pursuit problem originates from the predatory behavior of the animal kingdom, such as coyotes to hunt preys.…”

Section: Introductionmentioning

confidence: 99%

Research on Synergy Pursuit Strategy of Multiple Underwater Robots

Jia

et al. 2019

J Intell Robot Syst

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“…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].…”

Section: ) Visibility-based Pursuit-evasionmentioning

confidence: 99%

Pursuit-evasion with fixed beams

Stiffler

O’Kane

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We introduce a complete algorithm for solving a pursuit-evasion problem in a simplyconnected two-dimensional environment, for the case of a single pursuer equipped with fixed beam sensors. The input for our algorithm is an environment and a collection of sensor directions, in which each is capable of line-of-sight detection in a fixed direction. The output is a pursuer motion strategy that ensures the detection of an evader that moves with unbounded speed, or a statement that no such strategy exists. The intuition of the algorithm is to decompose the environment into a collection of convex conservative regions, within which the evader cannot sneak between any pair of adjacent sensors. This decomposition induces a graph we call the pursuit-evasion graph (PEG), such that any correct solution strategy can be expressed as a path through the PEG. For an instance defined by m beams and an environment with n vertices, the algorithm runs in time O(2 m n 2 ). We implemented the algorithm in simulation and present some computed examples illustrating the algorithm's correctness.

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“…Pursuit problem [1][2] is one of the hot spots in the field of artificial intelligence, and it is also a typical problem to study the cooperation and confrontation of multiple robots. In the field of land robot or air robot, cooperative pursuit problem has made a lot of research achievements.…”

Section: Introductionmentioning

confidence: 99%

A Novel Cooperative Pursuit Strategy in Multiple Underwater robots

Jia

Feng

et al. 2019

OCEANS 2019 - Marseille

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A novel cooperative pursuit strategy for multiple underwater robots is proposed in this paper. In this pursuit strategy, the pursuit-evasion game is studied in two stages. In the first stages, when the target keeps the static state, the rapidlyexploring random tree (RRT) search algorithm is used to realize the real-time path replanning for multiple underwater robots, so as to avoid the target detection range and reach the desired precapture position. Therefore, the concealed problem of encircling the static target is solved. In the second stages, when multiple underwater robots enter into the target detection range, the target will start to escape. In order to solve the problem of capturing a moving target, the cooperative control law for multiple underwater robots is proposed. A circular formation is formed to pursue the target using the cooperative control law so that the capture error can meet a certain performance indexes. Finally, the simulation results show the effectiveness and feasibility of the proposed cooperative pursuit strategy.

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

Cited by 20 publications

References 33 publications

Research on Synergy Pursuit Strategy of Multiple Underwater Robots

Research on Synergy Pursuit Strategy of Multiple Underwater Robots

Pursuit-evasion with fixed beams

A Novel Cooperative Pursuit Strategy in Multiple Underwater robots

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