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Hybrid Control for Visibility-Based Pursuit-Evasion Games
Departmental Papers (CIS)
  • Volkan Isler, University of Pennsylvania
  • Calin Belta, Drexel University
  • Kostas Daniilidis, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
Date of this Version
9-28-2004
Document Type
Conference Paper
Comments
Copyright 2004 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2004, pages 1432-1437.

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Abstract

Pursuit-evasion games in complex environments have a rich but disconnected history. Continuous or differential pursuit-evasion games focus on optimal control methods, and rely on very intense computations in order to provide locally optimal controls. Discrete pursuit-evasion games on graphs are algorithmically much more appealing, but completely ignore the physical dynamics of the players, resulting in possibly infeasible motions. In this paper, we present a provable and algorithmically feasible solution for visibility-based pursuit-evasion games in simply-connected environments, for players with dynamic constraints. This is achieved by combining two recent but distant results.

Citation Information
Volkan Isler, Calin Belta, Kostas Daniilidis and George J Pappas. "Hybrid Control for Visibility-Based Pursuit-Evasion Games" (2004)
Available at: http://works.bepress.com/george_pappas/39/