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  Distributed pursuit-evasion without mapping or global localization via local frontiers

Durham, J., Franchi, A., & Bullo, F. (2012). Distributed pursuit-evasion without mapping or global localization via local frontiers. Autonomous Robots, 32(1), 81-95. doi:10.1007/s10514-011-9260-1.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B856-6 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8A61-6
Genre: Journal Article

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Durham, JW, Author
Franchi, A1, 2, Author              
Bullo, F, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: This paper addresses a visibility-based pursuit-evasion problem in which a team of mobile robots with limited sensing and communication capabilities must coordinate to detect any evaders in an unknown, multiply-connected planar environment. Our distributed algorithm to guarantee evader detection is built around maintaining complete coverage of the frontier between cleared and contaminated regions while expanding the cleared region. We detail a novel distributed method for storing and updating this frontier without building a map of the environment or requiring global localization. We demonstrate the functionality of the algorithm through simulations in realistic environments and through hardware experiments. We also compare Monte Carlo results for our algorithm to the theoretical optimum area cleared as a function of the number of robots available.

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 Dates: 2012-01
 Publication Status: Published in print
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 Rev. Method: -
 Identifiers: DOI: 10.1007/s10514-011-9260-1
BibTex Citekey: DurhamFB2011
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Title: Autonomous Robots
Source Genre: Journal
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Publ. Info: Dordrecht, New York, NY : Kluwer Academic Publishers, Springer
Pages: - Volume / Issue: 32 (1) Sequence Number: - Start / End Page: 81 - 95 Identifier: ISSN: 0929-5593
CoNE: https://pure.mpg.de/cone/journals/resource/954925568789