Wireless sensor networks offer the potential to significantly improve the performance of pursuers in pursuit-evasion games. In this paper, we study several sensor network systems, their interaction with the pursuers, and the effect on pursuer performance. We propose a general framework to solve the pursuit-evasion problem and present new centralized as well as distributed methods. Specifically,...

We examine a version of the Cops and Robber (CR) game in which the robber is invisible, i.e., the cops do not know his location until they capture him. Apparently this game (CiR) has received little attention in the CR literature. We examine two variants: in the first the robber is adversarial (he actively tries to avoid capture); in the second he is drunk (he performs a random walk). Our goal ...

This paper presents a hierarchical flight control system for unmanned aerial vehicles. The proposed system executes high-level mission objectives by progressively substantiating them into machine-level commands. The acquired information from various sensors is propagated back to the higher layers for reactive decision making. Each vehicle is connected via standardized wireless communication pro...

A method of formation used in the “pursuit-evasion” game is presented in this paper. It reduces the computational complexity efficiently with the least total cost. This method takes the advantages of adaptation and cooperation in multi-robot, and introduces the roles of real leader and virtual leader. The method can work well with any type of formation, especially with complex ones. It can over...

A probabilistic pursuit–evasion game from the literature is used as an example of a multi-robot system. The model is extended with particular focus on localization errors and communication limitations. These constraints are important in real multi-robot systems, but has often been neglected in previous studies. It is shown in the paper how multi-robot systems outperform single robots, also in t...

A two-person pursuit-evasion stochastic differential game with state and measurement,y corrupted by noises is considered. In an earlier paper the problem was reformulated and solved in an infinite-dimensional-state space, and the existence of saddle-point solutions under certain conditions was proved. 7he present paper provides a numerical solution for the resulting continuous-time integro-part...

This paper solves a pursuit–evasion problem in which a prince must find a princess who is constrained to move on each day from one vertex of a finite graph to another. Unlike the related and much studied ‘Cops and Robbers Game’, the prince has no knowledge of the position of the princess; he may, however, visit any single room he wishes on each day. We characterize the graphs for which the prin...

This work addresses the pursuit-evasion problem of capturing a Differential Drive Robot (DDR) with Dubins Car (DC) in minimum time. We model as zero-sum differential game, and using game theory, we compute time-optimal motion strategies players near end game. unveil existence three singular surfaces: an Evader’s Dispersal Surface (EDS), Transition (TS), where DDR switches its controls, Pursuer’...

We consider a special variant of pursuit-evasion game called lions and contamination. In graph whose vertices are originally contaminated, set walks around the each lion clears contamination from every vertex it visits. The contamination, however, simultaneously spreads to any adjacent not occupied by lion. study relationship between different types clearings graphs, such as which do allow reco...

This work considers a pursuit-evasion game in which a number of pursuers are attempting to capture a single evader. Cooperation among multiple agents can be difficult to achieve, as it may require the selection of actions in the joint input space of all agents. This work presents a decentralized, real-time algorithm for cooperative pursuit of a single evader by multiple pursuers in bounded, sim...