Cooperative pursuit with Voronoi partitions

Zhou, Zhengyuan; Zhang, Wei; Ding, Jerry; Huang, Haomiao; Stipanović, Dušan M.; Tomlin, Claire J.

doi:10.1016/j.automatica.2016.05.007

Cited by 169 publications

(75 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…An alternative is to exploit special simplified settings to derive a specific strategy that guarantees capture (not necessarily optimizing any specific criterion). One approach, taken by Zhou et al (22), is to compute the Voronoi cell of the evader, i.e., the set of points that the evader can reach before the pursuer. The control law derived by Zhou et al (22) minimizes the instantaneous time rate of change of the area of the evader's Voronoi cell.…”

Section: Approximate Methodsmentioning

confidence: 99%

“…One approach, taken by Zhou et al (22), is to compute the Voronoi cell of the evader, i.e., the set of points that the evader can reach before the pursuer. The control law derived by Zhou et al (22) minimizes the instantaneous time rate of change of the area of the evader's Voronoi cell. The authors went on to derive the minimizing control law and establish that this control law guarantees eventual capture, where capture is defined as the proximity condition x p − x e ≤ δ for some capture radius δ.…”

Section: Approximate Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Game Theory and Control

Marden

Shamma

2018

Annu. Rev. Control Robot. Auton. Syst.

View full text Add to dashboard Cite

Game theory is the study of decision problems in which there are multiple decision makers and the quality of a decision maker's choice depends on both that choice and the choices of others. While game theory has been studied predominantly as a modeling paradigm in the mathematical social sciences, there is a strong connection to control systems in that a controller can be viewed as a decision-making entity. Accordingly, game theory is relevant in settings with multiple interacting controllers. This article presents an introduction to game theory, followed by a sampling of results in three specific control theory topics where game theory has played a significant role: (a) zero-sum games, in which the two competing players are a controller and an adversarial environment; (b) team games, in which several controllers pursue a common goal but have access to different information; and (c) distributed control, in which both a game and online adaptive rules are designed to enable distributed interacting subsystems to achieve a collective objective.

show abstract

Section: Approximate Methodsmentioning

confidence: 99%

Section: Approximate Methodsmentioning

confidence: 99%

Game Theory and Control

Marden

Shamma

2018

Annu. Rev. Control Robot. Auton. Syst.

View full text Add to dashboard Cite

show abstract

“…For example, Voronoi diagrams, dividing a plane into regions of points that are closest to a predetermined set of seed points, are widely used for generating strategies in pursuit-evasion games, usually when each player possesses the same speed. Especially in group pursuit of a single evader or multiple evaders, Voronoi-based approaches can provide very constructive cooperative strategies, such as minimizing the area of the generalized Voronoi partition of the evader [34], [35] or pursuing the evader in a relay way [36]. As for unequal speed scenarios, the Apollonius circle, first introduced by Isaacs, is a useful tool for analyzing the capture of a high-speed evader by using multiple pursuers [37], [38].…”

Section: Introductionmentioning

confidence: 99%

Task Assignment for Multiplayer Reach–Avoid Games in Convex Domains via Analytical Barriers

2020

View full text Add to dashboard Cite

This work considers a multiplayer reach-avoid game between two adversarial teams in a general convex domain which consists of a target region and a play region. The evasion team, initially lying in the play region, aims to send as many its team members into the target region as possible, while the pursuit team with its team members initially distributed in both play region and target region, strives to prevent that by capturing the evaders. We aim at investigating a task assignment about the pursuer-evader matching, which can maximize the number of the evaders who can be captured before reaching the target region safely when both teams play optimally. To address this, two winning regions for a group of pursuers to intercept an evader are determined by constructing an analytical barrier which divides these two parts. Then, a task assignment to guarantee the most evaders intercepted is provided by solving a simplified 0-1 integer programming instead of a non-deterministic polynomial problem, easing the computation burden dramatically. It is worth noting that except the task assignment, the whole analysis is analytical. Finally, simulation results are also presented.

show abstract

“…Specific applications of Voronoi-based coverage techniques to the problem of target tracking tend to focus on pursuer-evader games. Huang et al (2011) and Zhou et al (2016) consider the multiple-pursuers, single-evasion problem and formulate a decentralized algorithm to guarantee capture. Pan et al (2012) consider an interesting modification to this problem where some pursuers act as guards to prevent the evader from leaving the environment.…”

Section: Introductionmentioning

confidence: 99%

Distributed multi-target search and tracking using the PHD filter

Dames

2019

Auton Robot

View full text Add to dashboard Cite

This paper proposes a distributed estimation and control algorithm that enables a team of mobile robots to search for and track an unknown number of targets. These targets may be stationary or moving, and the number of targets may vary over time as targets enter and leave the area of interest. The robots are equipped with sensors that have a finite field of view and may experience false negative and false positive detections. The robots use a novel, distributed formulation of the Probability Hypothesis Density (PHD) filter, which accounts for the limitations of the sensors, to estimate the number of targets and the positions of the targets. The robots then use Lloyd's algorithm, a distributed control algorithm that has been shown to be effective for coverage and search tasks, to drive their motion within the environment. We utilize the output of the PHD filter as the importance weighting function within Lloyd's algorithm. This causes the robots to be drawn towards areas that are likely to contain targets. We demonstrate the efficacy of our proposed algorithm, including comparisons to a coverage-based controller with a uniform importance weighting function, through an extensive series of simulated experiments. These experiments show teams of 10-100 robots successfully tracking 10-50 targets in both 2D and 3D environments.

show abstract

Cooperative pursuit with Voronoi partitions

Cited by 169 publications

References 25 publications

Game Theory and Control

Game Theory and Control

Task Assignment for Multiplayer Reach–Avoid Games in Convex Domains via Analytical Barriers

Distributed multi-target search and tracking using the PHD filter

Contact Info

Product

Resources

About