A cell decomposition approach to visibility-based pursuit evasion among obstacles

Author:

Bhattacharya Sourabh1,Hutchinson Seth1

Affiliation:

1. Department of Electrical and Computer Engineering, University of Illinois at Urbana Champaign, Urbana, Illinois, USA

Abstract

In this paper, we address the problem of surveillance in an environment with obstacles. We consider the problem in which a mobile observer attempts to maintain visual contact with a target as it moves through an environment containing obstacles. This surveillance problem is a variation of traditional pursuit–evasion games, with the additional condition that the pursuer immediately loses the game if at any time it loses sight of the evader. We analyze this tracking problem as a game of kind. We use the method of explicit policy to compute guaranteed strategies for surveillance for the observer in an environment containing a single corner. These strategies depend on the initial positions of the observer and the target in the workspace. Based on these strategies a partition of the visibility polygon of the players is constructed. The partitions have been constructed for varying speeds of the observer and the target. Using these partitions we provide a sufficient condition for escape of a target in a general environment containing polygonal obstacles. Moreover, for a given initial target position, we provide a polynomial-time algorithm that constructs a convex polygonal region that provides an upper-bound for the set of initial observer positions from which it does not lose the game. We extend our results to the case of arbitrary convex obstacles with differentiable boundaries. We also present a sufficient condition for tracking and provide a lower-bound on the region around the initial position of the target from which the observer can track the target. Finally, we provide an upper bound on the area of the region in which the outcome of the game is unknown.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Reference41 articles.

Cited by 27 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A mixed Nash equilibrium solution for visibility-based pursuit-evasion game with multiple obstacles;Science China Information Sciences;2024-08-20

2. From Distributed Coverage to Multi-agent Target Tracking;2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS);2023-12-04

3. Relay Pursuit for Multirobot Target Tracking on Tile Graphs;2023 IEEE International Conference on Robotics and Automation (ICRA);2023-05-29

4. On the equivalence of pursuer strategies and the lack of nash equilibrium in a visibility pursuit-evasion game;Journal of the Franklin Institute;2022-12

5. Surveillance and Collision-Free Tracking of an Aggressive Evader With an Actuated Sensor Pursuer;IEEE Robotics and Automation Letters;2022-07

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