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2005
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Swarm Coordination for Pursuit Evasion Games using Sensor Networks

8 years 9 months ago
Swarm Coordination for Pursuit Evasion Games using Sensor Networks
— In this work we consider the problem of pursuit evasion games (PEGs) where a group of pursuers is required to detect, chase and capture a group of evaders with the aid of a sensor network in minimum time. Differently from standards PEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer onboard sensors, here we consider a scenario where a sensor network, previously deployed in the region of concern, can detect the presence of moving vehicles and can relay this information to the pursuers. Here we propose a general framework for the design of a hierarchical control architecture that exploit the advantages of a sensor networks by combining both centralized and decentralized real-time control algorithms. We also propose a coordination scheme for the pursuers to minimize the time-to-capture of all evaders. In particular, we focus on PEGs with sensor networks orbiting in space for artificial space debris detection and remo...
Luca Schenato, Songhwai Oh, Shankar Sastry, Prasan
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Luca Schenato, Songhwai Oh, Shankar Sastry, Prasanta K. Bose
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