Visibility-based pursuit-evasion in an unknown planar environment

International Journal of Robotics Research

Volumn 23, Issue 1, 2004, Pages 3-26

  Sachs, Shai ^a   LaValle, Steven M ^a   Rajko, Stjepan ^b  

^a University of Illinois at Urbana Champaign   (United States)

^b Iowa State University   (United States)

Author keywords

Bug algorithms; On line algorithms; Pursuit evasion; Sensing uncertainty; Sensor based planning; Surveillance; Visibility

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; PROBLEM SOLVING; SENSORS;

BUG ALGORITHMS; ON-LINE ALGORITHMS; PURSUIT-EVASION; SENSING UNCERTAINTY; SENSOR-BASED PLANNING; SURVEILLANCE; VISUAL SEARCHING;

ROBOTICS;

EID: 29344471950     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364904039610     Document Type: Review

References (33)

1. Acar, E. U., and Choset, H. 2001a. Complete sensor-based coverage with extended-range detectors: A hierarchical decomposition in terms of critical points and Voronoi diagrams. In Proceedings of IEEE IROS, International Conference on Intelligent Robots and Systems.
2. Acar, E. U., and Choset, H. 2001b. Robust sensor-based coverage of unstructured environments. In Proceedings of IEEE IROS, International Conference on Intelligent Robots and Systems.
3. Akella, S., Huang, W. H., Lynch, K. M., and Mason, M. T. 1997. Sensorless parts feeding with a one joint robot. In J.-P. Laumond and M. Overmars, editors, Algorithms for Robotic Motion and Manipulation, A.K. Peters, Wellesley, MA, 229-237.
4. Bender, M. A., Fernandez, A., Sahai, D. R. A., and Vadhan, S. 1998. The power of a pebble: Exploring and mapping directed graphs. In Proceedings of the Annual Symposium on Foundations of Computer Science.
5. Blum, M., and Kozen, D. 1978. On the power of the compass (or, why mazes are easier to search than graphs). In Proceedings of the Annual Symposium on Foundations of Computer Science, 132-142.
6. Choset, H., and Burdick, J. 1995. Sensor based planning, part I: The generalized Voronoi graph. In IEEE International Conference Robotics and Automation, 1649-1655.
7. Crass, D., Suzuki, I., and Yamashita, M. 1995. Searching for a mobile intruder in a corridor - the open edge variant of the polygon search problem. International Journal of Computational Geometry and Applications 5(4):397-412.
8. Deng, X., Kameda, T., and Papadimitriou, C. 1997. How to learn an unknown environment I: The rectilinear case. Available from http://www.cs.berkeley.edu/ ~christos/.
9. Donald, B. R. 1995. On information invariants in robotics. Artificial Intelligence 72:217-304.
10. Donald, B. R., and Jennings, J. April 1991. Sensor interpretation and task-directed planning using perceptual equivalence classes. In IEEE International Conference Robotics and Automation, Sacramento, CA, 190-197.
11. Efrat, A., Guibas, L. J., Lin, D. C., Mitchell, J. S. B., and Murali, T. M. 2000. Sweeping simple polygons with a chain of guards. In Proceedings of the ACM-SIAM Symposium on Discrete Algorithms.
12. Erdmann, M. A., and Mason, M. T. 1988. An exploration of sensorless manipulation. IEEE Transactions on Robotics and Automation 4(4):369-379.
13. Goldberg, K. Y. 1993. Orienting polygonal parts without sensors. Algorithmic 10:201-225.
14. Guibas, L. J., Motwani, R., and Raghavan, P. 1995. The robot localization problem. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Proceedings of the 1st Workshop on Algorithmic Foundations of Robotics, A.K. Peters, Wellesley, MA, 269-282.
15. Guibas, L. J., Latombe, J.-C., LaValle, S. M., Lin, D., and Motwani, R. 1999. Visibility-based pursuit-evasion in a polygonal environment. International Journal of Computational Geometry and Applications 9(5):471-494.
16. Kamon, I., and Rivlin, E. 1997. Sensory-based motion planning with global proofs. IEEE Transactions on Robotics and Automation 13(6):814-822.
17. Kamon, I., Rivlin, E., and Rimon, E. 1999. Range-sensor based navigation in three dimensions. In IEEE International Conference Robotics and Automation.
18. Kutulakos, K. N., Dyer, C. R., and Lumelsky, V. J. 1994. Provable strategies for vision-guided exploration in three dimensions. In IEEE International Conference Robotics and Automation, 1365-1371.
19. LaValle, S. M., and Hinrichsen, J. 2001. Visibility-based pursuit-evasion: The case of curved environments. IEEE Transactions on Robotics and Automation 17(2): 196-201.
20. LaValle, S. M., Lin, D., Guibas, L. J., Latombe, J.-C., and Motwani, R. 1997. Finding an unpredictable target in a workspace with obstacles. In Proceedings IEEE International Conference on Robotics and Automation, 737-742.
21. Lee, J.-H., Shin, S. Y., and Chwa, K.-Y. 1999. Visibility-based pursuit-evasions in a polygonal room with a door. In Proceedings of the ACM Symposium on Computational Geometry.
22. Lumelsky, V. J., and Stepanov, A. A. 1987. Path planning strategies for a point mobile automaton moving amidst unknown obstacles of arbitrary shape. Algorithmica 2:403-430.
23. Lumelsky, V., and Tiwari, S. 1994. An algorithm for maze searching with azimuth input. In IEEE International Conference Robotics and Automation, 111-116.
24. Manasse, M. S., McGeoch, L. A., and Sleator, D. D. 1988. Competitive algorithms for on-line problems. In Proceedings of the 20th Annual ACM Symposium on Theory Computing, 322-333.
25. Park, S.-M., Lee, J.-H., and Chwa, K.-Y. 2001. Visibility-based pursuit-evasion in a polygonal region by a searcher. Lecture Notes in Computer Science, Vol. 2076, Springer, Berlin, 456.
26. Rajko, S., and LaValle, S. M. 2001. A pursuit-evasion BUG algorithm. In Proceedings of the IEEE International Conference on Robotics and Automation.
27. Shkel, A. M., and Lumelsky, V. J. 1997. Incorporating body dynamics into sensor-based motion planning: The maximum turn strategy. IEEE Transactions on Robotics and Automation 13(6):873-880.
28. Simov, B., Slutzki, G., and LaValle, S.M. 2000. Pursuit-evasion using beam detection. In Proceedings of the IEEE International Conference on Robotics and Automation.
29. Suzuki, I., and Yamashita, M. 1992. Searching for a mobile intruder in a polygonal region. SIAM Journal of Computing 21(5):863-888.
30. Suzuki, I., Yamashita, M., Umemoto, H., and Kameda, T. 2001. Searching for a mobile intruder in a polygonal region by a group of mobile searchers. Algorithmica 31:208-236.
31. Tovar, B., LaValle, S. M., and Murrieta, R. 2003. Optimal navigation and object finding without geometric maps or localization. In IEEE International Conference Robotics and Automation.
32. Umemoto, H., Suzuki, I., Yamashita, M., and Kameda, T. 1998. Bushiness and a tight worst-case upper bound on the search number of a simple polygon. Information Processing Letters 66:49-52.
33. Yamashita, M., Suzuki, I., Tazoe, Y., and Kameda, T. 2001. Searching a polygonal region from the boundary. International Journal on Computational Geometry and Applications 11(5):529-553.