Multi-robot pursuit with visibility constraints

Esra Kadioglu Urtis, Nikolaos Papanikolopoulos

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

Abstract

We address the problem of pursuing a moving target from multiple angles using multiple mobile robots. The pursuer uses a modified form of pursuit curve in order to reach the multiple aim points which are at a pre-determined distance and angle from the target. This is different from existing works that track a target to localize it, follow a target by keeping it in the current frame of view generally from behind the target, or pursue a target in order to establish a line of sight. The focus in our work is on an efficient pursuit of the target such that the pursuers move to a position in order to obtain certain task specific information or perform actions that require specific positioning with respect to the target. Examples include following a target and taking left, right, and frontal images of it for accurate identification, or robots approaching a vehicle for docking, etc. In this paper, we define the multi-angle pursuit problem for multiple robots and present a pareto optimal solution for task allocation.

Original languageEnglish (US)
Title of host publication2009 24th International Symposium on Computer and Information Sciences, ISCIS 2009
Pages274-279
Number of pages6
DOIs
StatePublished - Dec 1 2009
Event2009 24th International Symposium on Computer and Information Sciences, ISCIS 2009 - Guzelyurt, Cyprus
Duration: Sep 14 2009Sep 16 2009

Publication series

Name2009 24th International Symposium on Computer and Information Sciences, ISCIS 2009

Other

Other2009 24th International Symposium on Computer and Information Sciences, ISCIS 2009
CountryCyprus
CityGuzelyurt
Period9/14/099/16/09

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