Amato, Nancy M.
KAUST Grant NumberKUS-C1-016-04
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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.
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.
SponsorsThis 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).