S. M. LaValle and J. E. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. In Proceedings, IEEE International Conference on Robotics and Automation (ICRA), pages 1677-1682, Detroit, MI, USA, May 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....in other ones it is actively avoiding detection (e.g. search and capture missions) There is a large body of literature dealing with pursuit games. The reader is referred for example to the text book [1] For a formulation of pursuit games that takes visual occlusion into account, see, e.g. [9]. The search and rescue problems [17, 5] are also closely related to the pursuit games addressed here. We deal with structured games in which the pursuer has available different resources for performing different operations. These operations cannot be executed simultaneously, therefore the ....

S. M. LaValle and J. Hinrichsen. Visibility-based pursuit- evasion: The case of curved environments. In Proc. of IEEE Int. Conf. Robot. FJ Autom., 1999.

.... of k flashlights) for k 1, or the 1 searcher having full 360 ffi vision (the case of a light bulb) The problem was first discussed in [13] as a dynamic version of the well known art gallery problem [11] The following two factors seem to have contributed to the recent outburst of papers [3] [6] [7] 9] 10] 14] 15] 16] on polygon search and its variants in both computational geometry conferences and robotics conferences: 1. Despite its seeming simplicity, the problem has proven quite challenging. Indeed, the algorithm given in [3] for computing a schedule of the 1 searcher to search ....

....polygon is presented. Another O(n 2 ) time algorithm for searching a room using the 1 searcher is found in [9] We already mentioned the exponential time algorithm for generating a search path for the 1 searcher [3] and an algorithm based on a similar idea for a curved environment appears in [6]. Recently an O(n 2 ) time algorithm was reported for the 1 searcher in an n sided polygon [7] Since sometimes a given polygon cannot be searched by a single searcher, attempts have been made to compute the the minimum required number of searchers using various parameters of the polygon, ....

S.M. LaValle and J.E. Hinrichsen, "Visibility-based pursuit-evasion: The case of curved environments," Proc. IEEE International Conference on Robotics and Automation, Detroit, Michigan, 1999, 1677-1682.

....clas#dNN l approach to this problem cons#4xx in a two s# age proces#) fir s# , a map of the region is built an then, the pur s# it eva s# on game takes place on the region thatis now perfectly known. In fact, thereis a large bo y of literature on any of thes# topics in is olation (s#6N e.g. 1] [2], 3] 4] In practice, the twos teps olution mentione above is# at leas# , cumbers # me. The map buil ing phas# turns out to be time cons# )4N an computationally har , even in the ca s# ofs# 36# twoimens#3 nal rectilinear environments [3] Moreover, the s# lutions propo s# in the literature to ....

S. M. LaValle and J. Hinrichsen, "Visibility-based pursuit-evasion: The case of curved environments," in Proc. of IEEE Int. Conf. Robot. & Autom., 1999.

....(e.g. search and capture missions) There is a large body of literature dealing with pursuit evasion games. The reader is referred for example to the classical reference [1] or the more recent textbook [2] For a formulation of this type of games that takes visual occlusion into account, see [3, 4]. The search and rescue problems [5, 6] are also closely related to the pursuit evasion games addressed here. We deal with structured games in which the pursuer has available different resources for performing different tasks. The appropriate use of these resources should lead the pursuer to ....

S. M. LaValle and J. Hinrichsen, "Visibility-based pursuit-evasion: The case of curved environments." Submitted to the IEEE Int. Conf. Robot. & Autom., 1999.

....The classical approach to this problem consists in a two stage process: first, a map of the region is built and then, the pursuit evasion game takes place on the region that is now perfectly known. In fact, there is a large body of literature on any of these topics in isolation (see, e.g. 1] [2], 3] 4] In practice, the two step solution mentioned above is, at least, cumbersome. The map building phase turns out to be time consuming and computationally hard, even in the case of simple two dimensional rectilinear environments [3] Moreover, the solutions proposed in the literature to ....

S. M. LaValle and J. Hinrichsen, "Visibility-based pursuit-evasion: The case of curved environments," in Proc. of IEEE Int. Conf. Robot. & Autom., 1999.

....The classical approach to this problem consists in a two stage process: rst, a map of the region is built and then, the pursuit evasion game takes place on the region that is now perfectly known. In fact, there is a large body of literature on any of these topics in isolation (see, e.g. 1] [2], 3] 4] In practice, the two step solution mentioned above is, at least, cumbersome. The map building phase turns out to be time consuming and computationally hard, even in the case of simple two dimensional rectilinear environments [3] Moreover, the solutions proposed in the literature to ....

S. M. LaValle and J. Hinrichsen, \Visibility-based pursuit-evasion: The case of curved environments," in Proc. of IEEE Int. Conf. Robot. & Autom., 1999.

....is now well known. In fact, there is a large body of literature on any of these topics in isolation. On pursuit evasion games the reader is referred to the classical reference [1] or the more recent textbook [2] For a formulation of this type of games that takes visual occlusion into account, see [3, 4]. On map building, see, e.g. 5, 6] and references therein. Search and rescue problems [7, 8] are also closely related to the pursuit evasion games addressed here. In practice, the two step solution mentioned above is, at least, cumbersome. The map building phase turns out to be time consuming ....

S. M. LaValle and J. Hinrichsen, \Visibility-based pursuit-evasion: The case of curved environments." Submitted to the IEEE Int. Conf. Robot. & Autom., 1999.

....based on the principle that an evader is captured if it is in the line of sight of one of the pursuers. They present algorithms that build finite graphs that abstract pursuit evasion games for known polygonal environments [5] and simply connected, smoothcurved, two dimensional environment [6]. So far the literature on pursuit evasion games always assumed the region on which the pursuit takes place (be it a finite graph or a continuous terrain) is known. When the region is unknown a priori a map learning phase is often proposed to precede the pursuit. However, systematic map learning ....

S. M. Lavalle and J. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. Submitted to the IEEE Int. Conf. Robot. & Autom., 1999.

....based on the principle that an evader is captured if it is in the line of sight of one of the pursuers. They present algorithms that build finite graphs that abstract pursuit evasion games for known polygonal environments [5] and simply connected, smooth curved, two dimensional environment [6]. So far the literature on pursuit evasion games always assumed the region on which the pursuit takes place (be it a finite graph or a continuous terrain) is known. When the region is unknown a priori a map learning phase is often proposed to precede the pursuit. However, systematic map learning ....

S. M. Lavalle and J. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. Submitted to the IEEE Int. Conf. Robot. & Autom., 1999.

No context found.

S. M. LaValle and J. E. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. In Proceedings, IEEE International Conference on Robotics and Automation (ICRA), pages 1677-1682, Detroit, MI, USA, May 1999.

No context found.

S. M. LaValle and J. E. Hinrichsen, \Visibility-based pursuit-evasion: The case of curved environments," in Proceedings, IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, USA, May 1999, pp. 1677{ 1682.

No context found.

S. M. LaValle and J. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. IEEE Transactions on Robotics and Automation, 17(2):196--201, April 2001.

....is a search problem for two guards whose starting and goal position are given, and who move on the boundary of a polygon while maintaining mutual visibility. A solution to the two guards problem was provided in [IK92] followed by improvements in [Hef96, THL98] While [SY92, CSY95, LPC00, LSC99, LH01] presented polynomial solutions for deciding searchability of special classes of polygons, the general case single pursuer problem was open for quite a while. Recently, the authors provided a O(n ) solution for a single 1 searcher in a polygon [SSL00] a result which they later improved to ....

Steven M. LaValle and John E. Hinrichsen. Visibility-based pursuit-evasion: the case of curved environments. IEEE Transactions on Robotics and Automation, 17(2):196--202, April 2001.

....of a polygon was introduced in Ref. 12] together with a more general problem in which the pursuer (a.k.a. k searcher) has k ashlights; when k is not bounded this corresponds to a 360 vision. For results concerning 360 vision refer to Refs. 2,4,11,12] for search in polygons and to Ref. [8] for curved planar environments. Our model is motivated in part by the need in mobile robotics systems to develop simple sensing mechanisms and to minimize localization requirements (knowing the precise location of the robot) The ashlight could be implemented by a camera and vision system ....

S. M. LaValle and J. E. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. In Proceedings, IEEE International Conference on Robotics and Automation (ICRA), pages 1677-1682, Detroit, MI, USA, May 1999.

....of a polygon was introduced in [SY92] together with a more general problem in which the pursuer (a.k.a. k searcher) has k ashlights; when k is not bounded this corresponds to a 360 vision. For results concerning 360 vision refer to [SY92, CSY95, GLL 97, LSC99] for search in polygons and to [LH99] for curved planar environments. Our model is motivated in part by the need in mobile robotics systems to develop simple sensing mechanisms and to minimize localization requirements (knowing the precise location of the robot) The ashlight could be implemented by a camera and vision system ....

.... of atomic instructions is O(n m log n m 2 ) Note that in the worst case, when m = n) this is equivalent to (n 2 ) However, in the cases in which m is much smaller than n, our algorithm is much faster than O(n 2 ) Consider, for example, approximating curved planar environments [LH99] by simple polygons. In a sequence of arbitrarily ne approximations, n will tend to in nity; however, the number of concave regions, m, remains nite (m is equal to one half of the number of in ection points along the curved boundary) On the other hand, if we need a more detailed description ....

S. M. LaValle and J. E. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. In Proceedings, IEEE International Conference on Robotics and Automation (ICRA), pages 1677-1682, Detroit, MI, USA, May 1999.

.... of the variants of 1 searchability de ned in [7] and [9] Originally, the problem of 1 searchability of a polygon was introduced together with a more general problem in which the pursuer has 360 vision [11] For results concerning 360 vision refer to [11, 2, 4, 10] for search in polygons and to [8] for curved planar environments. Our models are motivated in part by the desire in mobile robotics systems to develop simple sensing mechanisms and to minimize localization requirements (knowing the precise location of the robot) The ashlight could be implemented by a camera and vision system ....

S. M. LaValle and J. E. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. In Proceedings, IEEE International Conference on Robotics and Automation (ICRA), pages 1677-1682, Detroit, MI, USA, May 1999.

No context found.

S. M. LaValle and J. Hinrichsen, "Visibility-based pursuit-evasion: The case of curved environments," IEEE Transactions on Robotics and Automation, vol. 17, no. 2, pp. 196--201, Apr. 2001.

No context found.

S. M. LaValle and J. Hinrichsen, "Visibility-based pursuit-evasion: The case of curved environments," IEEE Transactions on Robotics and Automation, vol. 17, no. 2, pp. 196--201, Apr. 2001.

No context found.

S. LaValle and J. Hinrichnsen, "Visibility-Based Pursuit-Evasion: The Case of Curved Environments ", Proc. of IEEE International Conference on Robotics and Automation, 1999.

No context found.

S. M. LaValle and J. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. IEEE Transactions on Robotics and Automation, 17(2):196--201, April 2001.

No context found.

S. M. LaValle and J. Hinrichsen. Visibility-based pursuitevasion: The case of curved environments. IEEE Transactions on Robotics and Automation, 17(2):196--201, Apr. 2001.

No context found.

S. M. LaValle and J. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. IEEE Transactions on Robotics and Automation, 17(2):196--201, Apr. 2001.

No context found.

S. M. LaValle and J. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1677--1682, 1999.

No context found.

S. M. LaValle and J. Hinrichsen. Visibility-based pursuit-evasion: The case of curved environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1677--1682, 1999.

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