As a guest user you are not logged in or recognized by your IP address. You have
access to the Front Matter, Abstracts, Author Index, Subject Index and the full
text of Open Access publications.
We present a novel approach for solving pursuit-evasion problems where multiple pursuers with limited sensing capabilities are used to detect all possible mobile evaders in a given environment. We make no assumptions about the number, the speed, or the maneuverability of evaders. Our algorithm takes as input a map of the environment and sensor models for the pursuers. We then obtain a graph representation of an environment using a Čech Complex. Even with such a representation, the configuration space grows exponentially with the number of pursuers. In order to address this challenge, we propose an abstraction framework to partition the configuration space into sets of topologically similar configurations that preserve the space of possible evader locations. We validate our approach on several simulated environments with varying topologies and numbers of pursuers.
This website uses cookies
We use cookies to provide you with the best possible experience. They also allow us to analyze user behavior in order to constantly improve the website for you. Info about the privacy policy of IOS Press.
This website uses cookies
We use cookies to provide you with the best possible experience. They also allow us to analyze user behavior in order to constantly improve the website for you. Info about the privacy policy of IOS Press.