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Abstract: We consider the problem of searching for an unpredictable moving target, using a robot that lacks a map of the environment, lacks the ability to construct a map, and has imperfect navigation ability. We present a complete algorithm, which yields a motion strategy for the robot that guarantees the elusive target will be detected, if such a strategy exists. It is assumed that the robot has an omnidirectional sensing device that is used to detect moving targets and also discontinuities in depth... (Update)
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BibTeX entry: (Update)
S. Rajko and S. M. LaValle, "A pursuit-evasion BUG algorithm," in Proc. IEEE ICRA, 2001. http://citeseer.ist.psu.edu/article/rajko01pursuitevasion.html More
@misc{ rajko01pursuitevasion,
author = "S. Rajko and S. LaValle",
title = "A pursuit-evasion BUG algorithm",
text = "S. Rajko and S. M. LaValle, A pursuit-evasion BUG algorithm, in Proc. IEEE
ICRA, 2001.",
year = "2001",
url = "citeseer.ist.psu.edu/article/rajko01pursuitevasion.html" }
Citations (may not include all citations):100 Competitive algorithms for on-line problems (context) - Manasse, McGeoch et al. - 1988
79 Path planning strategies for a point mobile automaton moving.. (context) - Lumelsky, Stepanov - 1987
54 Pursuit-evasion in a graph (context) - Parsons - 1976
50 Searching for a mobile intruder in a polygonal region (context) - Suzuki, Yamashita - 1992
39 Finding an unpredictable target in a workspace with obstacle.. - LaValle, Lin et al. - 1997
31 Visibility-based pursuit-evasion in a polygonal environment - Guibas, Latombe et al. - 1997
26 The power of a pebble: Exploring and mapping directed graphs - Bender, Fernandez et al. - 1998
25 why mazes are easier to search than graphs (context) - Blum, Kozen et al. - 1978
23 Searching for a mobile intruder in a corridor { the open edg.. (context) - Crass, Suzuki et al. - 1995
20 part I: The generalized Voronoi graph (context) - Choset, Burdick et al. - 1995
17 Sweeping simple polygons with a chain of guards - Efrat, Guibas et al. - 2000
17 Visibility-based pursuit-evasions in a polygonal room with a.. (context) - Lee, Shin et al. - 1999
16 Sensory-based motion planning with global proofs - Kamon, Rivlin - 1997
15 Searching for mobile intruders in a polygonal region by a gr.. - Yamashita, Unemoto et al. - 1996
8 Searching a simple polygon by a k-searcher (context) - Tan - 2000
7 Range-sensor based navigation in three dimensions (context) - Kamon, Rivlin et al. - 1999
7 Visibility-based pursuit-evasion: An extension to curved env.. (context) - LaValle, Hinrichsen - 1999
6 Incorporating body dynamics into sensor-based motion plannin.. - Shkel, Lumelsky - 1997
6 Pursuitevasion using beam detection - Simov, Slutzki et al. - 2000
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