TY - GEN
T1 - Toward realistic pursuit-evasion using a roadmap-based approach
AU - Rodriguez, Samuel
AU - Denny, Jory
AU - Burgos, Juan
AU - Mahadevan, Aditya
AU - Manavi, Kasra
AU - Murray, Luke
AU - Kodochygov, Anton
AU - Zourntos, Takis
AU - Amato, Nancy M.
N1 - KAUST Repository Item: Exported on 2020-10-01
Acknowledged KAUST grant number(s): KUS-C1-016-04
Acknowledgements: 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).
This publication acknowledges KAUST support, but has no KAUST affiliated authors.
PY - 2011/5
Y1 - 2011/5
N2 - 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.
AB - 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.
UR - http://hdl.handle.net/10754/600046
UR - http://ieeexplore.ieee.org/document/5980467/
UR - http://www.scopus.com/inward/record.url?scp=84867906642&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980467
DO - 10.1109/ICRA.2011.5980467
M3 - Conference contribution
SN - 9781612843865
SP - 1738
EP - 1745
BT - 2011 IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers (IEEE)
ER -