Name
Abstract | ||
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We address a discrete-time, pursuit-evasion game with alternate moves played between two kinds of players: the pursuer and the evader. The pursuer wishes to capture the evader while the evader's goal is to avoid capture. By capture, we me an that the distance between the players is no greater than 1 unit. We assume simple, first-order motion kinematics for the play ers. The pursuer can move with a step size of at most 1 unit while the evader can move with a maximum step size of � < 1 units. The pursuer is able to measure only its distance from the evader, before and after the evader's move. We propose a capture strategy and first show that for the game played in R2, if � < 0.5, then a single pursuer captures the evader in finite time. Next, we sh ow that if the game is played in R3 and if � < 0.5, then with a modified strategy, two identical cooperative pursuers capt ure the evader in finite time. Finally, we shed light on the performan ce of the capture strategy in the case of � 2 (0.5, 1( and the case of sensing errors via simulations. We also present a simulation study of a version of this game with simultaneous moves. I. I NTRODUCTION The game of pursuit can be posed as to determine a strategy for a pursuer to capture an evader in a given environment. By capture, we mean that the evader and the pursuer are within a specified distance after a finite time. The aim of the pursuer i s to capture the evader for any evader strategy. The evader wins the game if it can avoid capture indefinitely. Capture strate gies are important in surveillance where the goal is to detect and capture intruders that move unpredictably. Another application is search-and-rescue operations where a worst-case capture strategy guarantees a rescue, in spite of any unpredictable motion of the victim. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/CDC.2008.4738582 | CDC |
Keywords | Field | DocType |
discrete time systems,game theory,mobile robots,multi-robot systems,robot kinematics,discrete-time model,first-order motion kinematics,pursuit-evasion game,range-only measurement,simulation | Distance measurement,Mathematical optimization,Kinematics,Control theory,Computer science,Pursuer,Robot kinematics,Game theory,Mobile robot,Finite time | Conference |
ISSN | Citations | PageRank |
0743-1546 | 2 | 0.40 |
References | Authors | |
14 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shaunak Dattaprasad Bopardikar | 1 | 93 | 8.33 |
| Francesco Bullo | 2 | 4989 | 415.53 |
| João Pedro Hespanha | 3 | 140 | 18.62 |