Real-Time Moving Target Evaluation Search

Multi-agent real-time pursuit

“…Although these algorithms were developed for static targets, they were having the potential to handle moving targets with little modification. This potential inspired the moving target version of this algorithm called moving target evaluation search (MTES) [2,3].…”

“…Moving target evaluation search (MTES) proposed in [2,3] is able to detect the closed directions around the agent, and determine the estimated best direction that avoids the nearby obstacles leading to a static or moving target from a shorter path. It was reported that a significant improvement was observed over MTS-c and MTS-d.…”

“…Since these reactive algorithms are not good enough to challenge successful predator algorithms, an off-line strategy called Prey A*, which is slow but more powerful, is developed [2,3]. In this paper, we employed Prey A* in our experiments to challenge our pursuit algorithms.…”

“…In this section, we summarize real-time moving target evaluation search (MTES) [2,3], on which one of our coordination algorithms, using alternative proposals (UAL), is built. MTES is a real-time single-agent path search (predator) algorithm for moving targets that works on partially observable planar grid worlds, where any grid cell can either be free or obstacle.…”

“…Off-line and incremental path planning algorithms are not able to handle moving targets in real-time, and most of the on-line search algorithms are specifically designed for partially observable environments with static targets. There are only a few number of algorithms capable of pursuing a moving target in environments with obstacles, two of which are moving target search (MTS) [1] and moving target evaluation search (MTES) [2,3]. The second challenge in that area raises when the number of predators involved in the search is increased.…”