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A Boolean Control Network Approach to Pursuit Evasion Problems in Polygonal Environments
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.ORCID-id: 0000-0003-0177-1993
Aeronautical and Systems Technology, Swedish Defence Research Agency (FOI), Sweden.ORCID-id: 0000-0002-7714-928X
2011 (engelsk)Inngår i: 2011 IEEE International Conference on obotics and Automation (ICRA), 2011, s. 4506-4511Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, the multi pursuer version of the pursuit evasion problem in polygonal environments is addressed. This problem is NP-hard, and therefore we seek good enough, but not optimal solutions. By modeling the problem as a Boolean Control Network, we can efficiently keep track of which regions are cleared, and which are not, while the input nodes of the network are used to represent the motion of the pursuers. The environment is partitioned into a set of convex regions, where each region correspond to a set of nodes in the network. The method is implemented in ANSI C, and efficiently solves complex environments containing multiple loops and requiring so-called recontamination. The provided examples demonstrate the effectiveness of the method in terms of computational time

sted, utgiver, år, opplag, sider
2011. s. 4506-4511
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-58003DOI: 10.1109/ICRA.2011.5979948ISI: 000324383403117Scopus ID: 2-s2.0-84871671733ISBN: 978-1-61284-386-5 (tryckt)OAI: oai:DiVA.org:kth-58003DiVA, id: diva2:472913
Konferanse
IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China
Merknad

QC 20120109

Tilgjengelig fra: 2012-01-04 Laget: 2012-01-04 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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