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Pursuit-Evasion in an Unknown Enviroment Using Gap Navigation Trees

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Title: Pursuit-Evasion in an Unknown Enviroment Using Gap Navigation Trees
Author(s): Guilamo, Luis; Tovar, Benjamin
Contributor(s): LaValle, Steven M.
Subject(s): robotics motion planning
Abstract: In this paper we present an online algorithm for pursuit-evasion in an unknown simply connected enviroment, for one pursuer that has minimal sensing and carries a set of stationary sentries that it can drop off and pick up during the pursuit. In our sensing model, the pursuer is only able to detect discontinuities in depth information (gaps), and it is able to find all of the evaders without any explicit localization or geometric information, by using a Gap Navigation Tree. The strategy is based on growing an evader-free region, by reading "exploration" schedules from the Gap Navigation Tree, that is constructed online. We prove that a pursuer with k+1 sentries can clear any environment that could be cleared by k pursuers using the algorithm in \cite{GuiLatLavLinMot99}, which required a complete map and perfect sensing.
Issue Date: 2004-02
Genre: Technical Report
Type: Text
URI: http://hdl.handle.net/2142/10779
Rights Information: You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the University of Illinois at Urbana-Champaign Computer Science Department under terms that include this permission. All other rights are reserved by the author(s).
Date Available in IDEALS: 2009-04-14
 

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