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

Durham, JW; Franchi, A; Bullo, F

doi:10.1109/ROBOT.2010.5509347

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

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Citation

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.

Cite as: https://hdl.handle.net/11858/00-001M-0000-0013-C03E-E

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.