Probabilistic strategies to coordinate multiple robotic pursuers in pursuit-evasion games
文献类型：会议论文
| 作者 | Zheng JY(郑建颖); Yu HB(于海斌) ; Liang W(梁炜); Zeng P(曾鹏)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2007) |
| 会议日期 | December 15-18, 2007 |
| 会议地点 | Sanya, China |
| 关键词 | multi-robot systems pursuit-evasion games multi-agent coordination and control autonomous vehicles |
| 页码 | 559-564 |
| 通讯作者 | 郑建颖 |
| 中文摘要 | This paper examines the problem of coordinating multiple robotic pursuers in locating and tracking a non-adversarial mobile evader in a dynamic environment. We have proposed a probabilistic and distributed algorithm in this paper. Our method considers the uncertain state Information of the pursuers and the evader using the probabilistic formulation of the pursuit-evasion problem, in order to minimize the expected time of capture rather than guaranteeing capture. Unlike many other approaches to this problem, our method provides a distributed technique to enhance the search efficiency of multiple pursuers as a result of avoiding overlapping search. Finally, we present simulated results to demonstrate the performance of our algorithm in a complex dynamic environment. The results show that our algorithm successfully reduces the expected capture time of the evader with a limited number of pursuers. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1761-2 |
| WOS记录号 | WOS:000257065800099 |
| 源URL | [http://ir.sia.cn/handle/173321/8111]  |
| 专题 | 沈阳自动化研究所_工业信息学研究室_工业控制系统研究室 |
| 推荐引用方式 GB/T 7714 | Zheng JY,Yu HB,Liang W,et al. Probabilistic strategies to coordinate multiple robotic pursuers in pursuit-evasion games[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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