NDLI: Cooperative pursuit with sensing limitations

Content Provider	IEEE Xplore Digital Library
Author	Bopardikar, S.D. Bullo, F. Hespanha, J.P.
Copyright Year	2007
Description	Author affiliation: Univ. of California at Santa Barbara, Santa Barbara (Bopardikar, S.D.; Bullo, F.)
Abstract	We address a discrete-time pursuit-evasion problem involving multiple pursuers and a single evader in an unbounded, planar environment in which each player has limited-range sensing. The evader appears at a random location in a bounded region and moves only when sensed. We propose a sweep-pursuit-capture strategy for a group of at least three pursuers and determine a lower bound on the probability of capture for the evader. This bound is a function of the pursuer formation and independent of the initial evader location and the evader strategy. We then propose a novel cooperative pursuit algorithm and show that the problem is reduced to one with unlimited sensing. We provide an upper bound on the time for our pursuit strategy to succeed. The final capture is achieved by using the established algorithm spheres. Our results show that on the basis of maximizing the probability of evader capture per pursuer, the pursuers should search the bounded region as a single group (conjoin) rather than to divide the region into smaller parts and search simultaneously in smaller groups (allocate).
Starting Page	5394
Ending Page	5399
File Size	196930
Page Count	6
File Format	PDF
ISBN	1424409888
ISSN	07431619
DOI	10.1109/ACC.2007.4282474
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Upper bound Cities and towns Pursuit algorithms Rabbits Animal behavior Sufficient conditions
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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