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Pursuit-evasion in 2.5d based on team-visibility

Kolling, Andreas and Kleiner, Alexander and Lewis, Michael and Sycara, Katia (2010) Pursuit-evasion in 2.5d based on team-visibility. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 18 October 2010 - 22 October 2010, Shanghai, CN.

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In this paper we present an approach for a pursuit-evasion problem that considers a 2.5d environment represented by a height map. Such a representation is particularly suitable for large-scale outdoor pursuit-evasion, captures some aspects of 3d visibility and can include target heights. In our approach we construct a graph representation of the environment by sampling strategic locations and computing their detection sets, an extended notion of visibility. From the graph we compute strategies using previous work on graph-searching. These strategies are used to coordinate the robot team and to generate paths for all robots using an appropriate classification of the terrain. In experiments we investigate the performance of our approach and provide examples including a sample map with multiple loops and elevation plateaus and two realistic maps, a village and a mountain range. To the best of our knowledge the presented approach is the first viable solution to 2.5d pursuit-evasion with height maps.


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Item Type: Conference or Workshop Item (Paper)
Status: Published
CreatorsEmailPitt UsernameORCID
Kolling, Andreas
Kleiner, Alexander
Lewis, Michael
Sycara, Katia
Date: October 2010
Date Type: Publication
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Place of Publication: New Jersey
Page Range: 4610 - 4616
Event Title: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Dates: 18 October 2010 - 22 October 2010
Event Type: Conference
Institution: University of Pittsburgh
Schools and Programs: School of Information Sciences > Information Science
Refereed: Yes
Official URL:
Additional Information: Access to the full text is subject to the publisher's access restrictions.
Date Deposited: 28 Jun 2011 13:45
Last Modified: 01 Nov 2017 12:55


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