Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

SAGETRACK

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Web of Science (1)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Tovar, B.
Right arrow Articles by LaValle, S. M.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Visibility-based Pursuit—Evasion with Bounded Speed

Benjamín Tovar

Department of Computer Science, University of Illinois, Urbana, IL 61801, USA, btovar{at}uiuc.edu

Steven M. LaValle

Department of Computer Science, University of Illinois, Urbana, IL 61801, USA, lavalle{at}uiuc.edu

In this paper we present a study on the visibility-based pursuit— evasion problem in which bounds on the speeds of the pursuer and evader are given. In this setting, the pursuer tries to find the evader inside a simply connected polygonal environment, and the evader in turn tries to avoid detection. The focus of the paper is to develop a characterization of the set of possible evader positions as a function of time (the reachable sets). This characterization is more complex than the unbounded-speed case, because it no longer depends only on the combinatorial changes in the visibility region of the pursuer. The characterization presented can be used as a filter to keep track of the possible evader's position as a pursuer moves in the environment, or it can be used to guide the construction of the pursuer search strategy. This search algorithm is at least as powerful as a complete algorithm for the unbounded-speed case, and with the knowledge of speed bounds, generates solutions for environments that were unsolvable previously. Given that numerical methods are needed to compute the reachable sets, we also present a conservative approximation which can be computed with a closed formula.

Key Words: Pursuit-evasion • visibility • bounded-speed • mobile robots

The International Journal of Robotics Research, Vol. 27, No. 11-12, 1350-1360 (2008)
DOI: 10.1177/0278364908097580
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
S. Akella, N. M. Amato, W. Huang, and B. Mishra
Special Issue on the Seventh International Workshop on Algorithmic Foundations of Robotics
The International Journal of Robotics Research, November 1, 2008; 27(11-12): 1173 - 1174.
[PDF]