liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Pursuit-Evasion in 2.5d based on Team-Visibility
University of Pittsburgh.
Carnegie Mellon University, Pittsburgh, PA.
University of Pittsburgh.
Carnegie Mellon University.
2010 (English)In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), IEEE, 2010, 4610-4616Conference paper (Refereed)
Abstract [en]

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.

National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-72528DOI: 10.1109/IROS.2010.5649270ISBN: 978-1-4244-6674-0OAI: oai:DiVA.org:liu-72528DiVA: diva2:459947
Conference
The 2010 IEEE/RSJ International Conference on, Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan
Available from: 2011-11-29 Created: 2011-11-28 Last updated: 2011-12-07Bibliographically approved

Open Access in DiVA

fulltext(1962 kB)150 downloads
File information
File name FULLTEXT02.pdfFile size 1962 kBChecksum SHA-512
bb78b5a1597b2c4ea04d25c3339ae9fde329effcc0f28ac709d5be982dd2971e8fa34d24b04f100b50b38f9e538ad3d4fd0977a6a928d25eb9aa5363a4887422
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Kleiner, Alexander
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 150 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 36 hits
ReferencesLink to record
Permanent link

Direct link