Roadmap based pursuit-evasion and collision avoidance

Volkan Isler; Dengfeng Sun; Shankar Sastry

doi:10.15607/rss.2005.i.034

Roadmap based pursuit-evasion and collision avoidance

Volkan Isler
, Dengfeng Sun
, Shankar Sastry

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

36 Scopus citations

Abstract

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 language	English (US)
Title of host publication	Robotics
Subtitle of host publication	Science and Systems I
Editors	Sebastian Thrun, Gaurav Sukhatme, Stefan Schaal, Oliver Brock
Publisher	MIT Press Journals
Pages	257-264
Number of pages	8
ISBN (Print)	9780262701143
DOIs	https://doi.org/10.15607/rss.2005.i.034
State	Published - 2005
Event	International Conference on Robotics: Science and Systems, RSS 2005 - Cambridge, United States Duration: Jun 8 2005 → Jun 11 2005

Publication series

Name	Robotics: Science and Systems
Volume	1
ISSN (Electronic)	2330-765X

Other

Other	International Conference on Robotics: Science and Systems, RSS 2005
Country/Territory	United States
City	Cambridge
Period	6/8/05 → 6/11/05

Bibliographical note

Publisher Copyright:
© 2005 Massachusetts Institute of Technology.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

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10.15607/rss.2005.i.034

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Roadmap based pursuit-evasion and collision avoidance. / Isler, Volkan; Sun, Dengfeng; Sastry, Shankar.
Robotics: Science and Systems I. ed. / Sebastian Thrun; Gaurav Sukhatme; Stefan Schaal; Oliver Brock. MIT Press Journals, 2005. p. 257-264 (Robotics: Science and Systems; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Isler, V, Sun, D & Sastry, S 2005, Roadmap based pursuit-evasion and collision avoidance. in S Thrun, G Sukhatme, S Schaal & O Brock (eds), Robotics: Science and Systems I. Robotics: Science and Systems, vol. 1, MIT Press Journals, pp. 257-264, International Conference on Robotics: Science and Systems, RSS 2005, Cambridge, United States, 6/8/05. https://doi.org/10.15607/rss.2005.i.034

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ER -

Roadmap based pursuit-evasion and collision avoidance

Abstract

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Bibliographical note

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