Citation
S.-Y. Liu, Z. Zhou, C. Tomlin, J. K. Hedrick. "Evasion Against a Hidden Pursuer as a Team of Dubins Vehicles". Proc. IEEE International Conference on Robotics and Automation (ICRA), 2014.

Abstract
We consider a single-pursuer-multiple-evader pursuit-evasion game in which a team of evaders aims to delay the capture by a faster pursuer. We extend our previous openloop formulation (and its solution) of the game to incorporate more realistic settings: a pursuer with uncertain position and evaders with limited turning rates. The formulation provides a guaranteed lower bound on the team survival time. The survival time performance of the proposed approach is evaluated through extensive simulations and compared to that of the existing approaches. It is shown to be highly effective even when the evaders can not detect the pursuer. A noticeable trend of potentially practical importance is that larger teams benefit more from an increase in turning rates than smaller teams.

Electronic downloads

• 2014_ICRA_shihyuan.pdf · application/pdf · 239 kbytes

• HTML

  S.-Y. Liu, Z. Zhou, C. Tomlin, J. K. Hedrick. <a
  href="http://robotics.eecs.berkeley.edu/pubs/3.html"
  >Evasion Against a Hidden Pursuer as a Team of Dubins
  Vehicles</a>, Proc. IEEE International Conference on
  Robotics and Automation (ICRA), 2014.

• Plain text

  S.-Y. Liu, Z. Zhou, C. Tomlin, J. K. Hedrick. "Evasion
  Against a Hidden Pursuer as a Team of Dubins Vehicles".
  Proc. IEEE International Conference on Robotics and
  Automation (ICRA), 2014.

• BibTeX

  @inproceedings{LiuZhouTomlinHedrick14_EvasionAgainstHiddenPursuerAsTeamOfDubinsVehicles,
      author = {S.-Y. Liu and Z. Zhou and C. Tomlin and J. K.
                Hedrick},
      title = {Evasion Against a Hidden Pursuer as a Team of
                Dubins Vehicles},
      booktitle = {Proc. IEEE International Conference on Robotics
                and Automation (ICRA)},
      year = {2014},
      abstract = {We consider a single-pursuer-multiple-evader
                pursuit-evasion game in which a team of evaders
                aims to delay the capture by a faster pursuer. We
                extend our previous openloop formulation (and its
                solution) of the game to incorporate more
                realistic settings: a pursuer with uncertain
                position and evaders with limited turning rates.
                The formulation provides a guaranteed lower bound
                on the team survival time. The survival time
                performance of the proposed approach is evaluated
                through extensive simulations and compared to that
                of the existing approaches. It is shown to be
                highly effective even when the evaders can not
                detect the pursuer. A noticeable trend of
                potentially practical importance is that larger
                teams benefit more from an increase in turning
                rates than smaller teams.},
      URL = {http://robotics.eecs.berkeley.edu/pubs/3.html}
  }
  

Posted by Ehsan Elhamifar on 16 May 2014.
Groups: ehumans
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