@inproceedings{f6ae5b7068784e638459b7ec827c6719,
title = "A search-based approach to solve pursuit-evasion games with limited visibility in polygonal environments",
abstract = "A pursuit-evasion game is a non-cooperative game in which a pursuer tries to detect or capture an adversarial evader. We study a pursuit-evasion game which takes place in a known polygonal environment. The goal of the pursuer is to capture the evader by moving onto its location. The players can observe each others' locations only if they can {"}see{"} each other - i.e., if the line segment connecting their locations lies entirely inside the polygonal environment. The complexity of representing the information available to the players at a given time makes solving pursuit-evasion games with visibility limitations difficult. We represent the state of the game using an efficient visibility-based decomposition of the environ-. ment paired with a more classical grid-based decomposition. The optimal players' strategies are computed using a min-max search algorithm improved with specific speedup techniques that preserve optimality. We show that our decomposition is complete for a rash evader, which hides from the pursuer and does not move from its hiding location when the pursuer is not visible. Simulations in realistic indoor environments and comparison with a Monte Carlo tree search algorithm validate our approach.",
keywords = "Limited visibility, Min-max search, Pursuit-evasion",
author = "Li, {Alberto Quattrini} and Francesco Amigoni and Raffaele Fioratto and Volkan Isler",
year = "2018",
month = jan,
day = "1",
language = "English (US)",
isbn = "9781510868083",
series = "Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS",
publisher = "International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)",
pages = "1693--1701",
booktitle = "17th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2018",
note = "17th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2018 ; Conference date: 10-07-2018 Through 15-07-2018",
}