NDLI: Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation

Content Provider	IEEE Xplore Digital Library
Author	Vidal, R. Shakernia, O. Kim, H.J. Shim, D.H. Sastry, S.
Copyright Year	1989
Abstract	We consider the problem of having a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) pursue a second team of evaders while concurrently building a map in an unknown environment. We cast the problem in a probabilistic game theoretical framework, and consider two computationally feasible greedy pursuit policies: local-mar and global-max. To implement this scenario on real UAVs and UGVs, we propose a distributed hierarchical hybrid system architecture which emphasizes the autonomy of each agent, yet allows for coordinated team efforts. We describe the implementation of the architecture on a fleet of UAVs and UGVs, detailing components such as high-level pursuit policy computation, map building and interagent communication, and low-level navigation, sensing, and control. We present both simulation and experimental results of real pursuit-evasion games involving our fleet of UAVs and UGVs, and evaluate the pursuit policies relating expected capture times to the speed and intelligence of the evaders and the sensing capabilities of the pursuers.
Starting Page	662
Ending Page	669
Page Count	8
File Size	1125944
File Format	PDF
ISSN	1042296X
Volume Number	18
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-10-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Game theory Computer architecture Unmanned aerial vehicles Communication system control Buildings Navigation Control systems Land vehicles Testing Associate members
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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