The Role of Visibility in the Cops-Robber Game and Robotic Pursuit / Evasion
نویسندگان
چکیده
The cops-and-robber (CR) game has been used in mobile robotics as a discretized model of pursuit/evasion problems. The “classical” CR version is a perfect information game: the cop’s (pursuer’s) location is always known to the robber (evader) and vice versa. More relevant to robotics are versions where one (or both) player is invisible. In this paper we study the extent to which the CR game becomes harder (for the cop) when the robber is invisible. To this end we define the cost of visibility (COV) and study its existence and mathematical properties. We also compute COV analytically for particular graph families (paths, cycles, trees, grids). Finally, we compute COV numerically for several families of indoor environments; to perform this computation we introduce the heuristic algorithm Pruned Cop Search (PCS).
منابع مشابه
The Role of Visibility in Pursuit / Evasion Games
The cops-and-robber (CR) game has been used in mobile robotics as a discretized model (played on a graph G) of pursuit/evasion problems. The “classic” CR version is a perfect information game: the cops’ (pursuer’s) location is always known to the robber (evader) and vice versa. Many variants of the classic game can be defined: the robber can be invisible and also the robber can be either advers...
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