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Swarm Coordination for Pursuit Evasion Games using Sensor Networks

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4 Author(s)
Schenato, L. ; Dept. of Information Eng. University of Padova Via Gradenigo 6/B 31100 Padova, Italy schenato@dei.unipd.it ; Songhwai Oh ; Sastry, S. ; Bose, P.

In this work we consider the problem of pursuit evasion games (PEGs) where a group of pursuers is required to detect, chase and capture a group of evaders with the aid of a sensor network in minimum time. Differently from standards PEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer’s onboard sensors, here we consider a scenario where a sensor network, previously deployed in the region of concern, can detect the presence of moving vehicles and can relay this information to the pursuers. Here we propose a general framework for the design of a hierarchical control architecture that exploits the advantages of a sensor network by combining both centralized and decentralized real-time control algorithms. We also propose a coordination scheme for the pursuers to minimize the time-to-capture of all evaders. In particular, we focus on PEGs with sensor networks orbiting in space for artificial space debris detection and removal.

Published in:

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Date of Conference:

18-22 April 2005

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