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A Boolean Control Network Approach to Pursuit Evasion Problems in Polygonal Environments
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
Aeronautical and Systems Technology, Swedish Defence Research Agency (FOI), Sweden.ORCID iD: 0000-0002-7714-928X
2011 (English)In: 2011 IEEE International Conference on obotics and Automation (ICRA), 2011, 4506-4511 p.Conference paper (Refereed)
Abstract [en]

In this paper, the multi pursuer version of the pursuit evasion problem in polygonal environments is addressed. This problem is NP-hard, and therefore we seek good enough, but not optimal solutions. By modeling the problem as a Boolean Control Network, we can efficiently keep track of which regions are cleared, and which are not, while the input nodes of the network are used to represent the motion of the pursuers. The environment is partitioned into a set of convex regions, where each region correspond to a set of nodes in the network. The method is implemented in ANSI C, and efficiently solves complex environments containing multiple loops and requiring so-called recontamination. The provided examples demonstrate the effectiveness of the method in terms of computational time

Place, publisher, year, edition, pages
2011. 4506-4511 p.
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:kth:diva-58003DOI: 10.1109/ICRA.2011.5979948ISI: 000324383403117ScopusID: 2-s2.0-84871671733ISBN: 978-1-61284-386-5OAI: diva2:472913
IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China

QC 20120109

Available from: 2012-01-04 Created: 2012-01-04 Last updated: 2014-09-30Bibliographically approved

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Thunberg, JohanHu, XiaomingÖgren, Petter
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