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Incremental Sampling-Based Algorithms for a Class of Pursuit-Evasion Games

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Algorithmic Foundations of Robotics IX

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 68))

Abstract

Pursuit-evasion games have been used for modeling various forms of conflict arising between two agents modeled as dynamical systems. Although analytical solutions of some simple pursuit-evasion games are known, most interesting instances can only be solved using numerical methods requiring significant offline computation. In this paper, a novel incremental sampling-based algorithm is presented to compute optimal open-loop solutions for the evader, assuming worst-case behavior for the pursuer. It is shown that the algorithm has probabilistic completeness and soundness guarantees. As opposed to many other numerical methods tailored to solve pursuit-evasion games, incremental sampling-based algorithms offer anytime properties, which allow their real-time implementations in online settings.

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Author information

Authors and Affiliations

  1. Laboratory for Information and Decision Systems, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology,  

    Sertac Karaman

  2. Laboratory for Information and Decision Systems, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology,  

    Emilio Frazzoli

Authors
  1. Sertac Karaman
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  2. Emilio Frazzoli
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Editor information

Editors and Affiliations

  1. School of Computing, National University of Singapore, 13 Computing Drive, 117417, Singapore

    David Hsu

  2. Department of Computer Science, University of Minnesota, 200 Union Street SE, 55455, Minneapolis, MN, USA

    Volkan Isler

  3. Computer Science Department, Stanford University, 94305-9010, Stanford, CA, USA

    Jean-Claude Latombe

  4. Department of Computer Science, University of North Carolina, Chapel Hill, 254 Brooks Building, 27599, Chapel Hill, NC, USA

    Ming C. Lin

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Karaman, S., Frazzoli, E. (2010). Incremental Sampling-Based Algorithms for a Class of Pursuit-Evasion Games. In: Hsu, D., Isler, V., Latombe, JC., Lin, M.C. (eds) Algorithmic Foundations of Robotics IX. Springer Tracts in Advanced Robotics, vol 68. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17452-0_5

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  • DOI: https://doi.org/10.1007/978-3-642-17452-0_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17451-3

  • Online ISBN: 978-3-642-17452-0

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