Pursuit-Evasion in 2.5d based on Team-Visibility
Conference paper (Refereed)
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
The 2010 IEEE/RSJ International Conference on, Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan
In this paper we present an approach for a pursuit-evasion problem that considers a 2.5d environment represented by a height map. Such a representation is particularly suitable for large-scale outdoor pursuit-evasion, captures some aspects of 3d visibility and can include target heights. In our approach we construct a graph representation of the environment by sampling points and computing detection sets, an extended notion of visibility. Moreover, the constructed graph captures overlaps of detection sets allowing for a coordinated team-based clearing of the environment with robots that move to the sampled points. Once a graph is constructed we compute strategies on it utilizing previous work on graph-searching. This is converted into robot paths that are planned on the height map by classifying the terrain appropriately. In experiments we investigate the performance of our approach and provide examples including a sample map with multiple loops and elevation plateaus and two realistic maps, one of a village and one of a mountain range. To the best of our knowledge the presented approach is the first viable solution to 2.5d pursuit-evasion with height maps.