• Corpus ID: 237571539

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

  title={Robust-by-Design Plans for Multi-Robot Pursuit-Evasion},
  author={Trevor Olsen and Nicholas M. Stiffler and Jason M. O’Kane},
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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