Searching for a mobile intruder in a polygonal region
SIAM Journal on Computing
Computing exact aspect graphs of curved objects: algebraic surfaces
International Journal of Computer Vision
Robot Motion Planning
The 4th International Symposium on Experimental Robotics IV
Visibility-Based Pursuit-Evasion in a Polygonal Environment
WADS '97 Proceedings of the 5th International Workshop on Algorithms and Data Structures
Dealing with geometric constraints in game-theoretic planning
IJCAI'99 Proceedings of the 16th international joint conference on Artificial intelligence - Volume 2
Randomized pursuit-evasion in a polygonal environment
IEEE Transactions on Robotics
Visibility transition planning for dynamic camera control
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Search and pursuit-evasion in mobile robotics
Autonomous Robots
Tracking an omnidirectional evader with a differential drive robot
Autonomous Robots
A cell decomposition approach to visibility-based pursuit evasion among obstacles
International Journal of Robotics Research
Designing the HRTeam framework: lessons learned from a rough-and-ready human/multi-robot team
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
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This paper addresses the pursuit-evasion problem of maintaining surveillance by a pursuer of an evader in a world populated by polygonal obstacles. This requires the pursuer to plan colision-free motions that honor distance constraints imposed by sensor capabilities, while avoiding occlusion of the evader by any obstacle. The paper extends the three-dimensional cellular decomposition of Schwartz and Sharir to represent the four-dimensional configuration space of the pursuer-evader system, and derive necessary conditions for surveillance (equivalently, sufficient conditions for escape) in terms of this new representation A game theoretic formulation of the problem is then given, and this formulation is used to characterize optimal escape trajectories for the evader. A shooting algorithm is proposed that finds these trajectories using the minimun principle. Finally, noting the similarities between this surveillance problem and the problem of cooperative manipulation by two robots, several cooperation strategies are presented that maximize system performance for cooperative motions.