TY - GEN
T1 - Hybrid control for visibility-based pursuit-evasion games
AU - Isler, Volkan
AU - Belta, Calin
AU - Daniilidis, K.
AU - Pappas, G. J.
PY - 2004/12/1
Y1 - 2004/12/1
N2 - Pursuit-evasion games in complex environments have a rich but disconnected history. Continuous or differential pursuit-evasion games focus on optimal control methods, and rely on very intense computations in order to provide locally optimal controls. Discrete pursuit-evasion games on graphs are algorithmically much more appealing, but completely ignore the physical dynamics of the players, resulting in possibly infeasible motions. In this paper, we present a provable and algorithmically feasible solution for visibility-based pursuit-evasion games in simply-connected environments, for players with dynamic constraints. This is achieved by combining two recent but distant results.
AB - Pursuit-evasion games in complex environments have a rich but disconnected history. Continuous or differential pursuit-evasion games focus on optimal control methods, and rely on very intense computations in order to provide locally optimal controls. Discrete pursuit-evasion games on graphs are algorithmically much more appealing, but completely ignore the physical dynamics of the players, resulting in possibly infeasible motions. In this paper, we present a provable and algorithmically feasible solution for visibility-based pursuit-evasion games in simply-connected environments, for players with dynamic constraints. This is achieved by combining two recent but distant results.
UR - http://www.scopus.com/inward/record.url?scp=14044265719&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:14044265719
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 1432
EP - 1437
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -