Roadmap Based Pursuit-Evasion and Collision Avoidance

• DOI: 10.15607/rss.2005.i.034
• Publication Date: 2016-01-02T21:36:08Z
• Authors: Volkan Isler; Dengfeng Sun; Shankar Sastry
• Keywords: Pursuit-evasion; Evasion (ethics)

We study pursuit-evasion games for mobile robots and their applications to collision avoidance.In the first part of paper, under assumption that pursuer evader (possibly subject physical constraints) share same roadmap plan strategies, we present sound complete strategies three different games.In second part, utilize results post-process workspace and/or configuration space obtain a probability map environment.Next, probabilistic method this trajectories which minimize independent robots.