A reactive motion planner to maintain visibility of unpredictable targets

Murrieta-Cid, Rafael; González-Baños, Héctor H.; Tovar, Benjamín

doi:10.1109/robot.2002.1014421

Cited by 43 publications

(34 citation statements)

References 15 publications

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“…So, the table used for learning grows proportionaly to the number of elements of the input alphabet. It is worth mentioning that in the simulation we used, to compare with our method, an algorithm inspired on the geomety based methods proposed in (La Valle & Latombe (1997); La Valle & Motwani (1997)) and (Murrieta-Cid & Tovar (2002)). In this investigation, we have shown that the one-observer-robot/one-target-robot tracking problem can be solved satisfactorily using DFA learning algorithms inspired in the formulation of the robot motion tracking as a two-player repeated game and enable us to analyse it in a more general setting than the evader/pursuer case.…”

Section: Robot Motion Tracking Dfa Learning Sketching and Streamingmentioning

confidence: 99%

Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation

Lucatero¹

2011

Advances in Robot Navigation

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Section: Robot Motion Tracking Dfa Learning Sketching and Streamingmentioning

confidence: 99%

Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation

Lucatero¹

2011

Advances in Robot Navigation

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“…The approach presented in [22] computes a motion strategy by maximizing the shortest distance to escape -the shortest distance the evader needs to move in order to escape the pursuer's visibility region. In this work the evaders were assumed to move unpredictably, and the distribution of obstacles in the workspace is assumed to be known in advance.…”

Section: Previous Workmentioning

confidence: 99%

Surveillance Strategies for a Pursuer with Finite Sensor Range

Murrieta-Cid

Muppirala²,

Sarmiento³

et al. 2007

The International Journal of Robotics Research

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This paper addresses the pursuit-evasion problem of maintaining surveillance by a pursuer of an evader in a world populated by polygonal obstacles. This requires the pursuer to plan collision-free motions that honor distance constraints imposed by sensor capabilities, while avoiding occlusion of the evader by any obstacle. We extend the three-dimensional cellular decomposition of Schwartz and Sharir to represent the four-dimensional configuration space of the pursuer-evader system, and derive necessary conditions for surveillance (equivalently, sufficient conditions for escape) in terms of this new representation. We then give a game theoretic formulation of the problem, and use this formulation to characterize optimal escape trajectories for the evader. We propose a shooting algorithm that finds these trajectories using the minimum principle. Finally, noting the similarities between this surveillance problem and the problem of cooperative manipulation by two robots, we present several cooperation strategies that maximize system performance for cooperative motions.

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“…More generally, interesting solutions for 2-players PEGs have been proposed when the map of the environment is known by the pursuer. The evader may be predictable LaValle et al (1997a) or more interestingly unpredictable Isler et al (2004); Murrieta-Cid et al (2002;2003). Thanks to the knowledge of the environment, scenarios mostly focus on maintaining the visibility of the target.…”

Section: Introductionmentioning

confidence: 99%

Pursiut-Evasion Games in Presence of Obstacles in Unknown Environments: towards an Optimal Pursuit Strategy

Giovannangeli¹,

Heymann²,

Rivlin³

2010

Cutting Edge Robotics 2010

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In this paper, we will incrementally build a complete pursuit algorithm to deal with a 2-players PEG in presence of a single unknown convex obstacle. We will first provide a sufficient condition to achieve capture without disappearance. Then, we will solve the circular obstacle problem, a particular problem highlighting a necessary trade-off between surveillance and capture. Next, the pole problem, as a generalization, of the convex obstacle problem will be tackled. The solution and the corresponding strategies will be detailed. A quasi-optimal pursuit strategy as regards the time to capture will be provided for the pole problem, and then transposed for the more general convex obstacle problem. For the cases leading to the evader victory in the pole problem, a last strategy allowing a maximal deviation of the line of disappearance will be added to complete to our pursuit algorithm. Finally, our complete pursuit algorithm will be adapted to use a heuristic minimization method instead of the strategy suggested by the resolution of the pole problem for the cases leading to the pursuer victory. Different heuristics, one being an approximation of the solution of the pole problem, will be compared with respect to the size of the capture basin and will highlight thez interest of our pursuit algorithm.

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A reactive motion planner to maintain visibility of unpredictable targets

Cited by 43 publications

References 15 publications

Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation

Application of Streaming Algorithms and DFA Learning for Approximating Solutions to Problems in Robot Navigation

Surveillance Strategies for a Pursuer with Finite Sensor Range

Pursiut-Evasion Games in Presence of Obstacles in Unknown Environments: towards an Optimal Pursuit Strategy

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