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

@article{citeulike:775830, abstract = {We consider the problem of having a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) pursue a second team of evaders while concurrently building a map in an unknown environment. We cast the problem in a probabilistic game theoretical framework, and consider two computationally feasible greedy pursuit policies: local-mar and global-max. To implement this scenario on real UAVs and UGVs, we propose a distributed hierarchical hybrid system architecture which emphasizes the autonomy of each agent, yet allows for coordinated team efforts. We describe the implementation of the architecture on a fleet of UAVs and UGVs, detailing components such as high-level pursuit policy computation, map building and interagent communication, and low-level navigation, sensing, and control. We present both simulation and experimental results of real pursuit-evasion games involving our fleet of UAVs and UGVs, and evaluate the pursuit policies relating expected capture times to the speed and intelligence of the evaders and the sensing capabilities of the pursuers.}, author = {Vidal, R. and Shakernia, O. and Kim, H. J. and Shim, D. H. and Sastry, S.}, citeulike-article-id = {775830}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/TRA.2002.804040}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1067989}, doi = {10.1109/TRA.2002.804040}, journal = {Robotics and Automation, IEEE Transactions on}, keywords = {pursuit\_evasion}, number = {5}, pages = {662--669}, posted-at = {2008-11-30 00:10:25}, priority = {2}, title = {Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation}, url = {http://dx.doi.org/10.1109/TRA.2002.804040}, volume = {18}, year = {2002} }

TY - JOUR ID - citeulike:775830 L3 - citeulike-article-id:775830 N2 - We consider the problem of having a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) pursue a second team of evaders while concurrently building a map in an unknown environment. We cast the problem in a probabilistic game theoretical framework, and consider two computationally feasible greedy pursuit policies: local-mar and global-max. To implement this scenario on real UAVs and UGVs, we propose a distributed hierarchical hybrid system architecture which emphasizes the autonomy of each agent, yet allows for coordinated team efforts. We describe the implementation of the architecture on a fleet of UAVs and UGVs, detailing components such as high-level pursuit policy computation, map building and interagent communication, and low-level navigation, sensing, and control. We present both simulation and experimental results of real pursuit-evasion games involving our fleet of UAVs and UGVs, and evaluate the pursuit policies relating expected capture times to the speed and intelligence of the evaders and the sensing capabilities of the pursuers. IS - 5 JF - Robotics and Automation, IEEE Transactions on EP - 669 TI - Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation VL - 18 SP - 662 KW - pursuit_evasion AU - Vidal, R AU - Shakernia, O AU - Kim, HJ AU - Shim, DH AU - Sastry, S PY - 2002/// UR - http://dx.doi.org/10.1109/TRA.2002.804040 ER -