Roadmap based pursuit-evasion and collision avoidance

Volkan Isler, Dengfeng Sun, Shankar Sastry

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Scopus citations


We study pursuit-evasion games for mobile robots and their applications to collision avoidance. In the first part of the paper, under the assumption that the pursuer and the evader (possibly subject to physical constraints) share the same roadmap to plan their strategies, we present sound and complete strategies for three different games. In the second part, we utilize the pursuit-evasion results to post-process the workspace and/or configuration space and obtain a collision probability map of the environment. Next, we present a probabilistic method to utilize this map and plan trajectories which minimize the collision probability for independent robots.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems I
EditorsSebastian Thrun, Gaurav Sukhatme, Stefan Schaal, Oliver Brock
PublisherMIT Press Journals
Number of pages8
ISBN (Print)9780262701143
StatePublished - 2005
EventInternational Conference on Robotics: Science and Systems, RSS 2005 - Cambridge, United States
Duration: Jun 8 2005Jun 11 2005

Publication series

NameRobotics: Science and Systems
ISSN (Electronic)2330-765X


OtherInternational Conference on Robotics: Science and Systems, RSS 2005
Country/TerritoryUnited States


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