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  Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration

Durham, J., Franchi, A., & Bullo, F. (2010). Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 3562-3568). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C03E-E Version Permalink: http://hdl.handle.net/21.11116/0000-0002-93AE-4
Genre: Conference Paper

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 Creators:
Durham, JW, Author
Franchi, A1, Author              
Bullo, F, Author
Affiliations:
1Università di Roma La Sapienza, ou_persistent22              

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 Abstract: This paper addresses a novel visibility-based pursuit-evasion problem in which a team of searchers with limited range sensors must coordinate to clear any evaders from an unknown planar environment.We present a distributed algorithm built around guaranteeing complete coverage of the frontier between cleared and contaminated areas while expanding the cleared area. Our frontier-based algorithm can guarantee detection of evaders in unknown, multiply-connected planar environments which may be non-polygonal. We also detail a method for storing and updating the global frontier between cleared and contaminated areas without building a global map or requiring global localization, which enables our algorithm to be truly distributed. We demonstrate the functionality of the algorithm through Player/Stage simulations.

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 Dates: 2010-05
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.1109/ROBOT.2010.5509347
BibTex Citekey: 6413
 Degree: -

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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Place of Event: Anchorage, AK, USA
Start-/End Date: 2010-05-03 - 2010-05-07

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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3562 - 3568 Identifier: ISBN: 978-1-424-45038-1