Visibility-Based Pursuit-Evasion in a Polygonal Environment

@inproceedings{Guibas1997VisibilityBasedPI,
  title={Visibility-Based Pursuit-Evasion in a Polygonal Environment},
  author={Leonidas J. Guibas and Jean-Claude Latombe and Steven M. LaValle and David C. Lin and Rajeev Motwani},
  booktitle={Workshop on Algorithms and Data Structures},
  year={1997}
}
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually “see” an evader that is unpredictable, has unknown initial position, and is capable of moving arbitrarily fast. This problem was first introduced by Suzuki and Yamashita. Our study of this problem is motivated in part by robotics applications, such as surveillance with a mobile robot equipped with a camera that must find a moving target in a cluttered workspace. A few bounds… 
View via Publisher
228 Citations
Highly Influential Citations
27
Background Citations
124
Methods Citations
35
Results Citations
3

228 Citations

Planning for robust visibility-based pursuit-evasion

This paper considers the case in which a pursuer with an omnidirectional sensor searches a known environment to locate an evader that may move arbitrarily quickly, and introduces the notion of an ε-robust solution strategy, in which ε is an upper bound on the positioning error that the pursuer may experience.

A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem

This paper proposes a new algorithm that takes an environment as its input and returns a joint motion strategy which ensures that the evader is captured by one of the pursuers, and describes an implementation of this algorithm and presents quantitative results that show significant improvement in comparison to the existing algorithm.

Visibility-Based Pursuit-Evasion in an Unknown Planar Environment

A complete algorithm is presented that enables the limited pursuer to clear the same environments that a pursuer with a complete map, perfect localization, and perfect control can clear (under certain general position assumptions).

Complete and optimal visibility-based pursuit-evasion

This paper presents a complete algorithm that computes a minimum-cost pursuer trajectory that ensures that the evader is captured, or reports in finite time that no such trajectory exists, and describes an implementation of the algorithm, along with experiments that measure its performance in several environments with a variety of pruning operations.

Pursuit-evasion in an unknown environment using gap navigation trees

It is proved that a pursuer with k + 1 sentries can clear any environment that could be cleared by k pursuers using the algorithm in L.J. Guibas et al. (1999), which required a complete map and perfect sensing.

Maintaining strong mutual visibility of an evader moving over the reduced visibility graph

This paper provides a constructive method to solve the decision problem of determining whether or not the pursuer is able to maintain strong mutual visibility of the evader, and proves decidability of this problem, and provides a complexity measure to this evader surveillance game.

Maintaining strong mutual visibility of an evader moving over the reduced visibility graph

This paper provides a constructive method to solve the decision problem of determining whether or not the pursuer is able to maintain strong mutual visibility of the evader, and proves decidability of this problem, and provides a complexity measure to this evader surveillance game.

A complete algorithm for visibility-based pursuit-evasion with multiple pursuers

This work introduces a centralized algorithm for a visibility-based pursuit-evasion problem in a two-dimensional environment for the case of multiple pursuers and constructs a Pursuit Evasion Graph induced by the adjacency graph.

Rapid Recovery from Robot Failures in Multi-Robot Visibility-Based Pursuit-Evasion

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.

Evasion with Bounded Speed − − Visibility-based Pursuit

A characterization of the set of possible evader positions as a function of time (the reachable sets) is developed, more complex than the unbounded-speed case, because it no longer depends only on the combinatorial changes in the visibility region of the pursuer.
...

References

SHOWING 1-10 OF 32 REFERENCES

Finding an unpredictable target in a workspace with obstacles

This paper introduces a visibility-based motion planning problem in which the task is to coordinate the motions of one or more robots that have omnidirectional vision sensors, to eventually "see" a…

On the Piano Movers' Problem: III. Coordinating the Motion of Several Independent Bodies: The Special Case of Circular Bodies Moving Amidst Polygonal Barriers

We present an algorithm that solves the following motion- planning problem that arises in robotics: Given several two-dimensional circular bodies B 1, B2, ..., and a region bounded by a collection of…

Searching for a Mobile Intruder in a Polygonal Region

This paper investigates the capabilities of searchers having different degrees of visibility by introducing the searcher having k flashlights whose visibility is limited to k rays emanating from his position, and the Searcher having a point light source who can see in all directions simultaneously.

Searching for a mobile intruder in a corridor: the open edge variant of the polygon search problem

This paper considers the “open edge” variant of the polygon search problem, in which the given polygon P must be searched without allowing undetected intruders to reach a given edge u, under an additional assumption that any number of intruders can leave and enter P through another edge v at any time.

Mobile robot self-location using model-image feature correspondence

An approach to solving the problem of establishing reliable and accurate correspondence between a stored 3-D model and a 2-D image of it in the context of autonomous navigation of a mobile robot in an outdoor urban, man-made environment is presented.

A game-theoretic framework for robot motion planning

A dynamic game-theoretic framework that can incorporate any of the essential features of decision theory, stochastic optimal control, and traditional multiplayer games is presented, used as an analytical tool and unifying perspective for a wide class of problems in robot motion planning.

A theorem on polygon cutting with applications

  • B. Chazelle
  • Computer Science
    23rd Annual Symposium on Foundations of Computer Science (sfcs 1982)
  • 1982
It is proved that it is possible, in O(N) time, to find two vertices a,b in P, such that the segment ab lies entirely inside the polygon P and partitions it into two polygons, each with a weight not exceeding 2C/3.

Primitives for the manipulation of general subdivisions and the computation of Voronoi diagrams

Two algorithms are given, one that constructs the Voronoi diagram of the given sites, and another that inserts a new site in O(n) time, based on the use of the Vor onoi dual, the Delaunay triangulation, and are simple enough to be of practical value.

Recent Results in Art Galleries

Two points in a polygon are called visible if the straight line segment between them lies entirely inside the polygon. The art gallery problem for a polygon P is to find a minimum set of points G in…

Recent results in art galleries (geometry)

The author provides an introduction to art gallery theorems and surveys the recent results of the field, examining several new problems that have the same geometric flavor as art gallery problems.