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.
PY - 2011
Y1 - 2011
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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84867906642&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84867906642&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980467
DO - 10.1109/ICRA.2011.5980467
M3 - Conference contribution
AN - SCOPUS:84867906642
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1738
EP - 1745
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -