Toward realistic pursuit-evasion using a roadmap-based approach

Samuel Rodriguez; Jory Denny; Juan Burgos; Aditya Mahadevan; Kasra Manavi; Luke Murray; Anton Kodochygov; Takis Zourntos; Nancy M. Amato

doi:10.1109/ICRA.2011.5980467

Toward realistic pursuit-evasion using a roadmap-based approach

Samuel Rodriguez, Jory Denny, Juan Burgos, Aditya Mahadevan, Kasra Manavi, Luke Murray, Anton Kodochygov, Takis Zourntos, Nancy M. Amato

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Scopus citations

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.

Original language	English (US)
Title of host publication	2011 IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1738-1745
Number of pages	8
ISBN (Print)	9781612843865
DOIs	https://doi.org/10.1109/ICRA.2011.5980467
State	Published - May 2011
Externally published	Yes

Bibliographical note

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.

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10.1109/ICRA.2011.5980467

Cite this

Rodriguez, S., Denny, J., Burgos, J., Mahadevan, A., Manavi, K., Murray, L., Kodochygov, A., Zourntos, T., & Amato, N. M. (2011). Toward realistic pursuit-evasion using a roadmap-based approach. In 2011 IEEE International Conference on Robotics and Automation (pp. 1738-1745). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2011.5980467

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title = "Toward realistic pursuit-evasion using a roadmap-based approach",

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. {\textcopyright} 2011 IEEE.",

author = "Samuel Rodriguez and Jory Denny and Juan Burgos and Aditya Mahadevan and Kasra Manavi and Luke Murray and Anton Kodochygov and Takis Zourntos and Amato, {Nancy M.}",

note = "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.",

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language = "English (US)",

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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

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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 -

Toward realistic pursuit-evasion using a roadmap-based approach

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