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IJRR
2007

Surveillance Strategies for a Pursuer with Finite Sensor Range

10 years 2 months ago
Surveillance Strategies for a Pursuer with Finite Sensor Range
This paper addresses the pursuit-evasion problem of maintaining surveillance by a pursuer of an evader in a world populated by polygonal obstacles. This requires the pursuer to plan collision-free motions that honor distance constraints imposed by sensor capabilities, while avoiding occlusion of the evader by any obstacle. We extend the three-dimensional cellular decomposition of Schwartz and Sharir to represent the four-dimensional configuration space of the pursuer-evader system, and derive necessary conditions for surveillance (equivalently, sufficient conditions for escape) in terms of this new representation. We then give a game theoretic formulation of the problem, and use this formulation to characterize optimal escape trajectories for the evader. We propose a shooting algorithm that finds these trajectories using the minimum principle. Finally, noting the similarities between this surveillance problem and the problem of cooperative manipulation by two robots, we present seve...
Rafael Murrieta-Cid, Teja Muppirala, Alejandro Sar
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2007
Where IJRR
Authors Rafael Murrieta-Cid, Teja Muppirala, Alejandro Sarmiento, Sourabh Bhattacharya, Seth Hutchinson
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