Toward realistic pursuit-evasion using a roadmap-based approach

Handle URI:
http://hdl.handle.net/10754/600046
Title:
Toward realistic pursuit-evasion using a roadmap-based approach
Authors:
Rodriguez, Samuel; Denny, Jory; Burgos, Juan; Mahadevan, Aditya; Manavi, Kasra; Murray, Luke; Kodochygov, Anton; Zourntos, Takis; Amato, Nancy M.
Abstract:
In this work, we describe an approach for modeling and simulating group behaviors for pursuit-evasion that uses a graph-based representation of the environment and integrates multi-agent simulation with roadmap-based path planning. Our approach can be applied to more realistic scenarios than are typically studied in most previous work, including agents moving in 3D environments such as terrains, multi-story buildings, and dynamic environments. We also support more realistic three-dimensional visibility computations that allow evading agents to hide in crowds or behind hills. We demonstrate the utility of this approach on mobile robots and in simulation for a variety of scenarios including pursuit-evasion and tag on terrains, in multi-level buildings, and in crowds. © 2011 IEEE.
Citation:
Rodriguez S, Denny J, Burgos J, Mahadevan A, Manavi K, et al. (2011) Toward realistic pursuit-evasion using a roadmap-based approach. 2011 IEEE International Conference on Robotics and Automation. Available: http://dx.doi.org/10.1109/ICRA.2011.5980467.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2011 IEEE International Conference on Robotics and Automation
KAUST Grant Number:
KUS-C1-016-04
Issue Date:
May-2011
DOI:
10.1109/ICRA.2011.5980467
Type:
Conference Paper
Sponsors:
This research supported in part by NSF awards CRI-0551685, CCF-0833199, CCF-0830753, IIS-096053, IIS-0917266 by THECB NHARPaward 000512-0097-2009, by Chevron, IBM, Intel, Oracle/Sun and byAward KUS-C1-016-04, made by King Abdullah University of Science andTechnology (KAUST).
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Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorRodriguez, Samuelen
dc.contributor.authorDenny, Joryen
dc.contributor.authorBurgos, Juanen
dc.contributor.authorMahadevan, Adityaen
dc.contributor.authorManavi, Kasraen
dc.contributor.authorMurray, Lukeen
dc.contributor.authorKodochygov, Antonen
dc.contributor.authorZourntos, Takisen
dc.contributor.authorAmato, Nancy M.en
dc.date.accessioned2016-02-28T06:34:59Zen
dc.date.available2016-02-28T06:34:59Zen
dc.date.issued2011-05en
dc.identifier.citationRodriguez S, Denny J, Burgos J, Mahadevan A, Manavi K, et al. (2011) Toward realistic pursuit-evasion using a roadmap-based approach. 2011 IEEE International Conference on Robotics and Automation. Available: http://dx.doi.org/10.1109/ICRA.2011.5980467.en
dc.identifier.doi10.1109/ICRA.2011.5980467en
dc.identifier.urihttp://hdl.handle.net/10754/600046en
dc.description.abstractIn this work, we describe an approach for modeling and simulating group behaviors for pursuit-evasion that uses a graph-based representation of the environment and integrates multi-agent simulation with roadmap-based path planning. Our approach can be applied to more realistic scenarios than are typically studied in most previous work, including agents moving in 3D environments such as terrains, multi-story buildings, and dynamic environments. We also support more realistic three-dimensional visibility computations that allow evading agents to hide in crowds or behind hills. We demonstrate the utility of this approach on mobile robots and in simulation for a variety of scenarios including pursuit-evasion and tag on terrains, in multi-level buildings, and in crowds. © 2011 IEEE.en
dc.description.sponsorshipThis research supported in part by NSF awards CRI-0551685, CCF-0833199, CCF-0830753, IIS-096053, IIS-0917266 by THECB NHARPaward 000512-0097-2009, by Chevron, IBM, Intel, Oracle/Sun and byAward KUS-C1-016-04, made by King Abdullah University of Science andTechnology (KAUST).en
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.titleToward realistic pursuit-evasion using a roadmap-based approachen
dc.typeConference Paperen
dc.identifier.journal2011 IEEE International Conference on Robotics and Automationen
dc.contributor.institutionTexas A and M University, College Station, United Statesen
kaust.grant.numberKUS-C1-016-04en
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