TY - GEN
T1 - Bearing-only pursuit
AU - Karnad, Nikhil
AU - Isler, Volkan
PY - 2008
Y1 - 2008
N2 - We study a variant of a well-known pursuit evasion game, the lion and man game. In this game a lion (the pursuer) tries to capture a man (the evader). The players move in turns. At each time step, they can move a unit distance. We focus on a version which takes place in an unbounded arena: the positive quadrant of the plane. The novelty of our formulation is in the sensor model. In the original formulation, the lion can sense the precise location of the man at all times. In our version, which is inspired by mobile robots equipped with monocular vision systems, the lion can only obtain bearing information about the man's location. We present a pursuit strategy which guarantees that the distance between the players is reduced to the step size in a bounded number of steps.
AB - We study a variant of a well-known pursuit evasion game, the lion and man game. In this game a lion (the pursuer) tries to capture a man (the evader). The players move in turns. At each time step, they can move a unit distance. We focus on a version which takes place in an unbounded arena: the positive quadrant of the plane. The novelty of our formulation is in the sensor model. In the original formulation, the lion can sense the precise location of the man at all times. In our version, which is inspired by mobile robots equipped with monocular vision systems, the lion can only obtain bearing information about the man's location. We present a pursuit strategy which guarantees that the distance between the players is reduced to the step size in a bounded number of steps.
UR - http://www.scopus.com/inward/record.url?scp=51649085395&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649085395&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543614
DO - 10.1109/ROBOT.2008.4543614
M3 - Conference contribution
AN - SCOPUS:51649085395
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2665
EP - 2670
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -