Visibility-based pursuit-evasion in a polygonal environment

Guibas, Leonidas J.; Latombe, Jean‐Claude; LaValle, Steven M.; Lin, David C.; Motwani, Rajeev

doi:10.1007/3-540-63307-3_45

Cited by 134 publications

(190 citation statements)

References 16 publications

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“…Cleared regions may only get recontaminated if they merge with a contaminated one, which can only be the result of a combinatorial change in the visibility region. These combinatorial changes are the base of the search algorithm presented in [12]. In terms of visual events, an strategy should dictate the sequence of inflection rays and bitangent complements to cross in order to clear the whole environment.…”

Section: Visibility-based Tasksmentioning

confidence: 99%

Gap Navigation Trees: Minimal Representation for Visibility-based Tasks

Tovar

Guilamo

LaValle³

2005

Springer Tracts in Advanced Robotics

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Abstract. In this paper we present our advances in a data structure, the Gap Navigation Tree (GNT), useful for solving different visibility-based robotic tasks in unknown planar environments. We present its use for optimal robot navigation in simply-connected environments, locally optimal navigation in multiply-connected environments, pursuit-evasion, and robot localization. The guiding philosophy of this work is to avoid traditional problems such as complete map building and exact localization by constructing a minimal representation based entirely on critical events in online sensor measurements made by the robot. The data structure is introduced from an information space perspective, in which the information used among the different visibility-based tasks is essentially the same, and it is up to the robot strategy to use it accordingly for the completion of the particular task. This is done through a simple sensor abstraction that reports the discontinuities in depth information of the environment from the robot's perspective (gaps), and without any kind of geometric measurements. The GNT framework was successfully implemented on a real robot platform.

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Section: Visibility-based Tasksmentioning

confidence: 99%

Gap Navigation Trees: Minimal Representation for Visibility-based Tasks

Tovar

Guilamo

LaValle³

2005

Springer Tracts in Advanced Robotics

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“…This is indeed the case in all graph searching [2,11,14] or visibility based pursuit evasion [5,7,15]. In the lion-and-the-man game also there are known results that show that multiple lions can capture the man when the man lies inside the convex hull of the lions [10].…”

Section: Introductionmentioning

confidence: 79%

“…Indeed, there is a rich literature on these games under various names [13], such as man-and-the-lion [12,16,9], cops-and-robber [6,1,8,3,4], robot-and-rabbit [6], and pursuit-evasion [14,5,7], just to name a few.…”

Section: Introductionmentioning

confidence: 99%

“…Finally, in the visibility-based pursuit-evasion games, the evader is often assumed to have infinite speed, and the capture is defined as being "seen" by some defenderboth infinite visibility or limited-range visibility models have been considered [5,8]. By contrast, kabaddi involves equal speed agents and requires a physical capture that Fig.…”

Section: Introductionmentioning

confidence: 99%

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Multiagent Pursuit Evasion, or Playing Kabaddi

Klein

Suri

2010

Springer Tracts in Advanced Robotics

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We study a version of pursuit evasion where two or more pursuers are required to capture the evader because the evader is able to overpower a single defender. The pursuers must coordinate their moves to fortify their approach against the evader while the evader maneuvers to disable pursuers from their unprotected sides. We model this situation as a game of Kabaddi, a popular South Asian sport where two teams occupy opposite halves of a field and take turns sending an attacker into the other half, in order to win points by tagging or wrestling members of the opposing team, while holding his breath during the attack. The game involves team coordination and movement strategies, making it non-trivial to formally model and analyze, yet provides an elegant framework for the study of multiagent pursuitevasion, for instance, a team of robots attempting to capture a rogue agent. Our paper introduces a simple discrete (time and space) model for the game, offers analysis of winning strategies, and explores tradeoffs between maximum movement speed, number of pursuers, and locational constraints. 1

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“…Our work is distinct from several pieces of prior work, as shown in Table II. The novelty of our proposed work is clear in several dimensions: while other work has explored theoretical bounds on eventual capture [13,14], or pursuit-evasion under constrained geometries [15,19] , or has examined sophisticated control strategies [17,18], our proposed work attempts to minimize the time of captured of a multi-pursuer multi-evader under the pragmatic realization of physical multi-robot games.…”

Section: Related Workmentioning

confidence: 99%

Scalable and Practical Pursuit-Evasion

Vieira¹,

Govindan²,

Sukhatme³

2009

Proceedings of the 2nd International Conference on Robotic Communication and Coordination

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Abstract-In this paper, we consider the design and implementation of practical, yet near-optimal, pursuit-evasion games. In prior work, we developed, using the theory of zero-sum games, minimal completion-time strategies for pursuit-evasion. Unfortunately, those strategies do not scale beyond a small number of robots. In this paper, we design and implement a partition strategy where pursuers capture evaders by decomposing the game into multiple multi-pursuer single-evader games. Our algorithm terminates, has bounded capture time, is robust, and is scalable in the number of robots. In our implementation, a sensor network provides sensing-at-a-distance, as well as a communication backbone that enables tighter coordination between pursuers. Our experiments in a challenging office environment suggest that this approach is near-optimal, at least for the configurations we have evaluated. Overall, our work illustrates an innovative interplay between robotics and communication.

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Visibility-based pursuit-evasion in a polygonal environment

Cited by 134 publications

References 16 publications

Gap Navigation Trees: Minimal Representation for Visibility-based Tasks

Gap Navigation Trees: Minimal Representation for Visibility-based Tasks

Multiagent Pursuit Evasion, or Playing Kabaddi

Scalable and Practical Pursuit-Evasion

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