Relay pursuit of a maneuvering target using dynamic Voronoi diagrams

Bakolas, Efstathios; Tsiotras, Panagiotis

doi:10.1016/j.automatica.2012.06.003

Cited by 99 publications

(80 citation statements)

References 27 publications

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“…Apollonius circles are used to inform the evasion strategies, and group herding behaviors are shown to be the result of each evader attempting to minimize the size of their opponent's dominance region. Finally, [10] considers a team of pursuers using a relay pursuit strategy to capture a single maneuvering target where only the closest pursuer actively pursues the target. The closest pursuer is determined by constructing a Voronoi Diagram, which gives the regions where each pursuer dominates all others.…”

Section: Literature Reviewmentioning

confidence: 99%

Dominance in pursuit-evasion games with uncertainty

Oyler

Kabamba

Girard

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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This paper studies planar pursuit-evasion games that feature a group of players moving in an environment that may contain obstacles, where some players are pursuers and others are evaders. The goal of the pursuers is to capture the evaders, which requires the distance between one of the pursuers and one of the evaders to become zero. The goal of the evaders is to avoid capture. Specifically, this paper studies games with uncertainty in the parameters of the game, including the positions and speeds of the players as well as the positions of the obstacles. This work focuses on dominance regions, where a point in the environment is said to be dominated by one of the players if that player is able to reach the point before their opponent, regardless of the opponent's actions. In the existing literature, the use of dominance regions has been limited to games with perfect information about all players as well as the environment, and the key achievement of this paper is to extend the concept of dominance regions to practical scenarios where perfect information is unavailable.

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Section: Literature Reviewmentioning

confidence: 99%

Dominance in pursuit-evasion games with uncertainty

Oyler

Kabamba

Girard

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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“…We distribute N a mobile agents in this area at distinct locations by partitioning the area into N a Voronoi cells, each containing an agent monitoring this cell. This can be done after solving the dynamic Voronoi-like partition problem [1], where the positions of the agents are taken as the corresponding Voronoi sites. We call all these agents monitoring agents.…”

Section: Problem Formulationmentioning

confidence: 99%

“…This may lead to the well known undesirable Zeno behavior. In order to avoid the occurrence of Zeno behavior, we redesign the moving line as in [1] to be χ i,j t, := {x ∈ S : |x−a i (t)|−|x−a j (t)| ≤ }, where > 0 is a hysteresis constant. Then, P i t (a i (t), a j (t)) and P j t (a i (t), a j (t)) are modified as P i t, (a i (t), a j (t)) := {x ∈ S : |x − a i (t)| < |x − a j (t)| − } and P j t, (a i (t), a j (t)) := {x ∈ S : |x−a i (t)| > |x−a j (t)|+ }, respectively.…”

Section: Lemma 4 ( [20])mentioning

confidence: 99%

“…A novel switched impulsive system is built to describe such a relay-pursuit problem. Although similar problem settings have been considered before in [1], we consider more general linear agent dynamics in this paper than those of the single integrator type used in [1]. The controller gain in our paper is obtained by solving an algebraic Riccati equation (ARE), which is much easier to implement in practice.…”

Section: Introductionmentioning

confidence: 99%

“…The distributed relay pursuit of a maneuvering target in the plane is investigated in [1], where the Voronoi-like partition approach is used to solve such a relay-pursuit problem. In [8], [10], [11], the tracking control for second-order agent dynamics is investigated by using Lyapunov-like functions to check the systems' invariant sets.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Pursuing an evader through cooperative relaying in multi-agent surveillance networks

Sun

Cao

et al. 2017

Automatica

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Anticipated velocity based guidance strategy for wheeled mobile evader amidst stationary and moving obstacles in bounded environment

Kumar

Ojha

2014

Computer Animation & Virtual

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This paper is concerned with a class of pursuit-evasion game problems amidst stationary and moving obstacles in a bounded environment. We concentrate on evader's strategy taking into account the following challenges: (i) pursuer and evader are nonholonomic wheeled mobile robots and the evader is slower than the pursuer; (ii) pursuer follows a proportional navigation law; and (iii) geometry of the environment is not known to the players, a priori. We propose an efficient evader-centric anticipated velocity based guidance strategy. Pursuer's trajectory is anticipated at each step by the evader using quadratic polynomial interpolation. The aim of the evader is to escape interception with the pursuer for maximum possible time. To deal with static obstacles, a technique based on a well-known tangent bug algorithm is presented. While dealing with dynamic obstacles, a recently introduced reciprocal orientation method is employed to avoid collision in situations when the dynamic obstacle also cooperates in the process. In case dynamic obstacles do not participate in the process of collision avoidance, a well-known velocity obstacle method is employed for planning safe collision-free paths. Efficiency of the proposed algorithms is analyzed with respect to the interception time and the distance traveled by the players.

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Relay pursuit of a maneuvering target using dynamic Voronoi diagrams

Cited by 99 publications

References 27 publications

Dominance in pursuit-evasion games with uncertainty

Dominance in pursuit-evasion games with uncertainty

Pursuing an evader through cooperative relaying in multi-agent surveillance networks

Anticipated velocity based guidance strategy for wheeled mobile evader amidst stationary and moving obstacles in bounded environment

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