Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers

Haomiao Huang; Wei Zhang; Jerry Ding; Dušan M. Stipanović; Claire J. Tomlin

doi:10.1109/CDC.2011.6161237

Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers

Haomiao Huang, Wei Zhang, Jerry Ding, Dušan M. Stipanović, Claire J. Tomlin

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

Abstract

Pursuit-evasion games are an important problem in robotics and control, but games with many players are difficult to analyze and solve. This paper studies a game of multiple pursuers cooperating to capture a single evader in a bounded, convex, polytope in the plane. We present a decentralized control scheme based on the Voronoi partion of the game domain, where the pursuers jointly minimize the area of the evader's Voronoi cell. We prove that capturing the evader is guaranteed under this scheme regardless of the evader's actions, and show simulation results demonstrating the pursuit strategy.

Original language	English (US)
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4835-4840
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6161237
State	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 12/15/11

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2011.6161237

Library availability

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Huang, H., Zhang, W., Ding, J., Stipanović, D. M., & Tomlin, C. J. (2011). Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 4835-4840). Article 6161237 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6161237

Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers. / Huang, Haomiao; Zhang, Wei; Ding, Jerry et al.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 4835-4840 6161237 (Proceedings of the IEEE Conference on Decision and Control).

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

Huang, H, Zhang, W, Ding, J, Stipanović, DM & Tomlin, CJ 2011, Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6161237, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4835-4840, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6161237

Huang H, Zhang W, Ding J, Stipanović DM, Tomlin CJ. Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 4835-4840. 6161237. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6161237

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Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers

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