Cooperative Hunting by Multiple Mobile Robots Based on Local Interaction

Cao, Zhiqiang; Tan, Min; Nahavandi, Saeid; Gu, Nong

doi:10.5772/4660

Cited by 7 publications

(9 citation statements)

References 7 publications

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“…We also intend to investigate the effect of the local group radius (both increasing and decreasing its size). Other possible future work includes, applying this work to a very large-scale robotic system (hundreds of robots) [18] and implementing the sharing robots in other common problems such as robotic soccer [7,12], formation control [16], the coverage problem [10] and hunting [3]. It is hoped the work in this paper can form a basis for future work on real robots.…”

Section: Discussionmentioning

confidence: 99%

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Multi-Robot Search and Rescue: A Potential Field Based Approach

Baxter

Burke

Garibaldi

et al. 2007

Studies in Computational Intelligence

118

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This paper describes two implementations of a potential field sharing multirobot system which we term as pessimistic and optimistic. Unlike other multirobot systems in which coordination is designed explicitly, it is an emergent property of our system. The robots perform no reasoning and are purely reactive in nature. We extend our previous work in simulated search and rescue where there was only one target to the search for multiple targets. As in our previous work the sharing systems with six or more robots outperformed the equivalent non-sharing system. We conclude that potential field sharing has a positive impact on robots involved in a search and rescue problem.

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Section: Discussionmentioning

confidence: 99%

“…We largely reproduce the problem description in section 2 from [2] for completeness. Although this is a specific problem instance, we believe our system may be applied to many other problems such as robotic soccer [7,12], the coverage problem [10] and robotic hunting [3].…”

Section: Introductionmentioning

confidence: 99%

Multi-Robot Search and Rescue: A Potential Field Based Approach

Baxter

Burke

Garibaldi

et al. 2007

Studies in Computational Intelligence

118

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“…[12] considers a successive pursuit of multiple evaders by a single faster pursuer in the plane with sensing range limited to a finite disc. [13] proposes a multi-phase pursuit strategy for groups of pursuers with limited range sensing and has demonstrated its capture properties in bounded environments via simulation without formal proof. In discrete time formulations, [14] considers the problem on a graph, with the visibility of the pursuer limited to nodes adjacent to the current node of a pursuer.…”

Section: Introductionmentioning

confidence: 99%

On Discrete-Time Pursuit-Evasion Games With Sensing Limitations

2008

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We address discrete-time pursuit-evasion games in the plane where every player has identical sensing and motion ranges restricted to closed discs of given sensing and stepping radii. A single evader is initially located inside a bounded subset of the environment and does not move until detected. We propose a Sweep-Pursuit-Capture pursuer strategy to capture the evader and apply it to two variants of the game: the first involves a single pursuer and an evader in a bounded convex environment and the second involves multiple pursuers and an evader in a boundaryless environment. In the first game, we give a sufficient condition on the ratio of sensing to stepping radius of the players that guarantees capture. In the second, we determine the minimum probability of capture, which is a function of a novel pursuer formation and independent of the initial evader location. The Sweep and Pursuit phases reduce both games to previously-studied problems with unlimited range sensing, and capture is achieved using available strategies. We obtain novel upper bounds on the capture time and present simulation studies that address the performance of the strategies under sensing errors, different ratios of sensing to stepping radius, greater evader speed and different number of pursuers. Index TermsPursuit-evasion games, sensing limitations, cooperative control. Abstract-We address discrete-time pursuit-evasion games in the plane where every player has identical sensing and motion ranges restricted to closed discs of given sensing and stepping radii. A single evader is initially located inside a bounded subset of the environment and does not move until detected. We propose a Sweep-Pursuit-Capture pursuer strategy to capture the evader and apply it to two variants of the game: the first involves a single pursuer and an evader in a bounded convex environment and the second involves multiple pursuers and an evader in a boundaryless environment. In the first game, we give a sufficient condition on the ratio of sensing to stepping radius of the players that guarantees capture. In the second, we determine the minimum probability of capture, which is a function of a novel pursuer formation and independent of the initial evader location. The Sweep and Pursuit phases reduce both games to previouslystudied problems with unlimited range sensing, and capture is achieved using available strategies. We obtain novel upper bounds on the capture time and present simulation studies that address the performance of the strategies under sensing errors, different ratios of sensing to stepping radius, greater evader speed and different number of pursuers.

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“…Yamaguchi presents a feedback control law for coordinating the motion of multiple mobile robots to capture/enclose a target by making troop formations [12], which is controlled by formation vectors. Cao et al study the hunting problem of multiple mobile robots and an intelligent evader, and the proposed approaches are verified by simulations [13,14]. In [15], the prey is hunted by the robots with four modes (navigation-tracking, obstacle avoidance, cooperative collision avoidance, and circle formation).…”

Section: Introductionmentioning

confidence: 99%

A Distributed Hunting Approach for Multiple Autonomous Robots

Cao

Zhou

Cheng

et al. 2013

International Journal of Advanced Robotic Systems

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A novel distributed hunting approach for multiple autonomous robots in unstructured mode-free environments, which is based on effective sectors and local sensing, is proposed in this paper. The visual information, encoder and sonar data are integrated in the robot's local frame, and the effective sector is introduced. The hunting task is modelled as three states: search state, round-obstacle state, and hunting state, and the corresponding switching conditions and control strategies are given. A form of cooperation will emerge where the robots interact only locally with each other. The evader, whose motion is a priori unknown to the robots, adopts an escape strategy to avoid being captured. The approach is scalable and may cope with problems of communication and wheel slippage. The effectiveness of the proposed approach is verified through experiments with a team of wheeled robots.

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Cooperative Hunting by Multiple Mobile Robots Based on Local Interaction

Cited by 7 publications

References 7 publications

Multi-Robot Search and Rescue: A Potential Field Based Approach

Multi-Robot Search and Rescue: A Potential Field Based Approach

On Discrete-Time Pursuit-Evasion Games With Sensing Limitations

A Distributed Hunting Approach for Multiple Autonomous Robots

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