• Corpus ID: 237571539

Robust-by-Design Plans for Multi-Robot Pursuit-Evasion

@article{Olsen2021RobustbyDesignPF,
  title={Robust-by-Design Plans for Multi-Robot Pursuit-Evasion},
  author={Trevor Olsen and Nicholas M. Stiffler and Jason M. O’Kane},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.08715}
}
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation of the pursuit-evasion problem that modifies the pursuers’ objective by requiring that the evader still be detected, even in spite of the failure of any single pursuer robot. This novel constraint, whereby two pursuers are required to detect an evader, has… 

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References

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TLDR
This paper proposes an algorithm that can rapidly recover from catastrophic failures of a team of pursuer robots operating in a two-dimensional polygonal space and describes an implementation and provides quantitative results that show that the proposed method is able to recover from robot failures more rapidly than a baseline approach that plans from scratch.
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