A visibility-based pursuit-evasion problem

被引：190

作者：

Guibas, LJ ^{[1
]}

Latombe, JC ^{[1
]}

Lavalle, SM ^{[1
]}

Lin, D ^{[1
]}

Motwani, R ^{[1
]}

机构：

[1] Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA

来源：

INTERNATIONAL JOURNAL OF COMPUTATIONAL GEOMETRY & APPLICATIONS | 1999年 / 9卷 / 4-5期

关键词：

visibility; motion planning; pursuit-evasion; information spaces; sensing uncertainty;

D O I：

10.1142/S0218195999000273

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually "see" an evader that is unpredictable, has unknown initial position, and is capable of moving arbitrarily fast. This problem was first introduced by Suzuki and Yamashita. Our study of this problem is motivated in part by robotics applications, such as surveillance with a mobile robot equipped with a camera that must find a moving target in a cluttered workspace. A few bounds are introduced, and a complete algorithm is presented for computing a successful motion strategy for a single pursuer. For simply-connected free spaces, it is shown that the minimum number of pursuers required is theta(lg n). For multiply-connected free spaces, the bound is theta(root h + lg n) pursuers for a polygon that has n edges and h holes. A set of problems that are solvable by a single pursuer and require a linear number of recontaminations is shown. The complete algorithm searches a finite graph that is constructed on the basis of critical information changes. It has been implemented and computed examples are shown.

引用

页码：471 / 493

页数：23

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