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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Simov, B.H. Slutzki, G. LaValle, S.M. |
| Copyright Year | 2000 |
| Description | Author affiliation: Dept. of Comput. Sci., Iowa State Univ., Ames, IA, USA (Simov, B.H.) |
| Abstract | We present an algorithm for searching a 2D environment for unpredictable moving targets using only beam-based detection. One or more pursuers move along the environment boundary, and carry a rotating beam that detects evaders. The beam could correspond in practice to a laser or a camera. The task is to compute motions for pursuers and their beams that ensure that all evaders will be detected. For a 2D polygonal environment, we solve a long-standing open problem by presenting a complete O(n/sup 3/)-time algorithm that is guaranteed to find a successful motion strategy for a single pursuer and its beam, if a solution exists. This algorithm is extended to the case of coordinating multiple pursuers, but the number of pursuers used in a solution is not necessarily optimal. An implementation is presented, and several computed examples are shown. |
| Starting Page | 1657 |
| Ending Page | 1662 |
| File Size | 739272 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780358864 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2000.844834 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2000-04-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot kinematics Laser beams Robot sensing systems Cameras Motion detection Computational geometry Military computing Sonar detection Mobile robots Game theory |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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