Numerical approximation for a visibility based pursuit-evasion game

Sourabh Bhattacharya, M Tamer Basar, Maurizio Falcone

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work addresses a vision-based target tracking problem between a mobile observer and a target in the presence of a circular obstacle. The task of keeping the target in the observer's field-of-view is modeled as a pursuit-evasion game by assuming that the target is adversarial in nature. Due to the presence of obstacles, this is formulated as a game with state constraints. The objective of the observer is to maintain a line-of-sight with the target at all times. The objective of the target is to break the line-of-sight in finite amount of time. First, we establish that the value of the game exists in this setting. Then we reduce the dimension of the problem by formulating the game in relative coordinates, and present a discretization in time and space for the reduced game. Based on this discretization, we use a fully discrete semi-Lagrangian scheme to compute the Kružkov transform of the value function numerically, and show that the scheme converges for our problem. Finally, we compute the optimal control action of the players from the Kružkov transform of the value function, and demonstrate the performance of the numerical scheme by numerous simulations.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages68-75
Number of pages8
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Numerical approximation for a visibility based pursuit-evasion game'. Together they form a unique fingerprint.

Cite this