Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation

  title={Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation},
  author={Ren{\'e} Vidal and Omid Shakernia and Hyoun Jin Kim and David Hyunchul Shim and S. Shankar Sastry},
  journal={IEEE Trans. Robotics and Automation},
We consider the problem of having a team of Unmanned Aerial Vehicles (UAV) and Unmanned Ground Vehicles (UGV) pursue a second team of evaders while concurrently building a map in an unknown environment. We cast the problem in a probabilistic game theoretic framework and consider two computationally feasible greedy pursuit policies: local-max and global-max. To implement this scenario on real UAVs and UGVs, we propose a distributed hierarchical hybrid system architecture which emphasizes the… CONTINUE READING
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