TY - GEN
T1 - Multi-robot pursuit with visibility constraints
AU - Urtis, Esra Kadioglu
AU - Papanikolopoulos, Nikolaos
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=73949089566&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=73949089566&partnerID=8YFLogxK
U2 - 10.1109/ISCIS.2009.5291826
DO - 10.1109/ISCIS.2009.5291826
M3 - Conference contribution
AN - SCOPUS:73949089566
SN - 9781424450237
T3 - 2009 24th International Symposium on Computer and Information Sciences, ISCIS 2009
SP - 274
EP - 279
BT - 2009 24th International Symposium on Computer and Information Sciences, ISCIS 2009
T2 - 2009 24th International Symposium on Computer and Information Sciences, ISCIS 2009
Y2 - 14 September 2009 through 16 September 2009
ER -