The complexity of searching a graph
Journal of the ACM (JACM)
Randomized Pursuit-Evasion in Graphs
Combinatorics, Probability and Computing
Path planning for permutation-invariant multirobot formations
IEEE Transactions on Robotics
Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems
IEEE Transactions on Robotics
Multi-robot Cooperative Pursuit Based on Task Bundle Auctions
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Proceedings of the first ACM/SIGEVO Summit on Genetic and Evolutionary Computation
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Multiple-pursuer multiple-evader games raise fundamental and novel problems in control theory and robotics. In this paper, we propose a distributed solution to this problem that simultaneously addresses the discrete assignment of pursuers to evaders as well as the continuous control strategies for capturing individual evaders. The resulting hybrid control framework guarantees the mutual exclusion property of the final assignment for all initial conditions as well as capturing all evaders after exploring at most a polynomial number of assignments, dramatically reducing the combinatorial nature of purely discrete assignment problems.