NDLI: Pursuit-evasion in an unknown environment using gap navigation trees

Content Provider	IEEE Xplore Digital Library
Author	Guilamo, L. Tovar, B. LaValle, S.M.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., Illinois Univ., Urbana, IL, USA (Guilamo, L.; Tovar, B.; LaValle, S.M.)
Abstract	In this paper we present an online algorithm for pursuit-evasion in a unknown simply connected environment, for one pursuer that has minimal sensing and carries a set of stationary sentries that it can drop off and pick up during the pursuit. In our sensing model, the pursuer is only able to detect discontinuities in depth information (gaps), and it is able to find all of the evaders without any explicit localization or geometric information, by using a gap navigation tree. The strategy is based on growing an evader-free region, by reading "exploration" schedules from the gap navigation tree, that is constructed online. We prove that a pursuer with k + 1 sentries can clear any environment that could be cleared by k pursuers using the algorithm in L.J. Guibas et al. (1999), which required a complete map and perfect sensing.
Starting Page	3456
Ending Page	3462
File Size	570626
Page Count	7
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389951
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot sensing systems Mobile robots Computer science Floors Game theory Automata Feedback control Data structures Tree graphs
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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