By Topic

Capturing an Evader in a Building - Randomized and Deterministic Algorithms for Mobile Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)

A three-dimensional (3D) grid Gntimesntimesn, n ges 2, is the set of points (vertices) with integer coordinates in [0,n-1]times[0,n-1] together with their connecting edges, which is viewed as a connected 3D set. Alternatively, Gntimesntimesn can be viewed as the union of 2n2 horizontal line segments, called corridors, and n2 vertical line segments, called shafts. We view Gntimesntimesn as representing a building and consider a vision-based pursuit-evasion problem in which a group of mobile robots (pursuers) are required to search for and capture an evader (intruder) hiding in it. The robots and the evader-all called players-are represented by points that move continuously along the edges of Gntimesntimesn. (Two players can be at the same point at one time.) Any continuous move in Gntimesntimesn is allowed within the speed limit constraint, which is for the evader without loss of generality, and a constant s for the robots The evader is considered captured if there exists a time during the pursuit when his position coincides with the position of one of the robots.

Published in:

IEEE Robotics & Automation Magazine  (Volume:15 ,  Issue: 2 )