Authors: Samuel Rodriguez, Jory Denny, Juan Burgos, Aditya Mahadevan, Kasra Manavi, Luke Murray, Anton Kodochygov, Takis Zourntos, Nancy M. Amato

Venue: IEEE International Conference on Robotics and Automation
DOI: 10.1109/ICRA.2011.5980467
Link to Publication

Abstract:
In this work, we describe an approach for modeling and simulating group behaviors for pursuit-evasion that uses a graph-based representation of the environment and integrates multi-agent simulation with roadmap-based path planning. Our approach can be applied to more realistic scenarios than are typically studied in most previous work, including agents moving in 3D environments such as terrains, multi-story buildings, and dynamic environments. We also support more realistic three-dimensional visibility computations that allow evading agents to hide in crowds or behind hills. We demonstrate the utility of this approach on mobile robots and in simulation for a variety of scenarios including pursuit-evasion and tag on terrains, in multi-level buildings, and in crowds. 

@inproceedings{Rodriguez-trpuar-2011, 
 author = {Rodriguez, Samuel and Denny, Jory and Burgos, Juan and Mahadevan, Aditya and Manavi, Kasra and Murray, Luke and Kodochygov, Anton and Zourntos, Takis and Amato, Nancy M}, 
 booktitle = {2011 IEEE International Conference on Robotics and Automation}, 
 organization = {IEEE}, 
 pages = {1738--1745}, 
 title = {Toward realistic pursuit-evasion using a roadmap-based approach}, 
 year = {2011} 
}