Visibility-Based Pursuit-Evasion in a Polygonal Region by a Searcher

Park, Sang-Min; Lee, Jaeha; Chwa, Kyung-Yong

doi:10.1007/3-540-48224-5_38

Cited by 64 publications

(53 citation statements)

References 11 publications

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“…Schedules are then defined recursively, where for a node encoding a merge, its children should be cleared first. Circular dependencies of contamination merges can be detected, as in [25], to conclude that the environment cannot be successfully cleared with a single pursuer. The pursuer can place a static sentry, or guard, to prevent a critical event from happening, breaking the circular dependency.…”

Section: Pursuit-evasionmentioning

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: Pursuit-evasionmentioning

confidence: 99%

Gap Navigation Trees: Minimal Representation for Visibility-based Tasks

Tovar

Guilamo

LaValle³

2005

Springer Tracts in Advanced Robotics

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“…However, it is not clear if this bound is tight. Park et al (2001) provided necessary and sufficient conditions for polygonal environments clearable with a single searcher, and they present an O(n 2 ) algorithm for clearing a polygon with a single pursuer, which improves on the result from Guibas et al with possibly exponential worst-case running time. An alternative to using deterministic strategies is the randomized strategy given by Isler et al (2005), which guarantees that a single pursuer can locate an evader in any simplyconnected polygon with high probability in time polynomial in the number of vertices.…”

Section: Search In Polygonal Environmentsmentioning

confidence: 94%

Search and pursuit-evasion in mobile robotics

2011

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This paper surveys recent results in pursuitevasion and autonomous search relevant to applications in mobile robotics. We provide a taxonomy of search problems that highlights the differences resulting from varying assumptions on the searchers, targets, and the environment. We then list a number of fundamental results in the areas of pursuit-evasion and probabilistic search, and we discuss field implementations on mobile robotic systems. In addition, we highlight current open problems in the area and explore avenues for future work.

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“…The pursuers are equipped with cameras, able to maintain omni-directional line-of-sight visibility, and must plan and coordinate their moves until some pursuer can reach the same location as the evader. The problem is motivated by applications in robotics, and has drawn a significant interest since it was introduced by Suzuki and Yamashita [24], although much of the prior work has focused on the simpler problem of evader detection, where the pursuers win as soon as the evader is "seen" by some pursuer [10,11,12,20,25].…”

Section: Introductionmentioning

confidence: 99%