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  Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration

Durham, J., Franchi, A., & Bullo, F. (2010). Distributed pursuit-evasion with limited-visibility sensors via frontier-based exploration. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 3562-3568). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C03E-E Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C03F-C
Genre: Conference Paper

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 Creators:
Durham, JW, Author
Franchi, A1, Author           
Bullo, F, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: This paper addresses a novel visibility-based pursuit-evasion problem in which a team of searchers with limited range sensors must coordinate to clear any evaders from an unknown planar environment.We present a distributed algorithm built around guaranteeing complete coverage of the frontier between cleared and contaminated areas while expanding the cleared area. Our frontier-based algorithm can guarantee detection of evaders in unknown, multiply-connected planar environments which may be non-polygonal. We also detail a method for storing and updating the global frontier between cleared and contaminated areas without building a global map or requiring global localization, which enables our algorithm to be truly distributed. We demonstrate the functionality of the algorithm through Player/Stage simulations.

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 Dates: 2010-05
 Publication Status: Issued
 Pages: -
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 Table of Contents: -
 Rev. Type: -
 Identifiers: ISBN: 978-1-424-45038-1
URI: http://icra2010.grasp.upenn.edu/
DOI: 10.1109/ROBOT.2010.5509347
BibTex Citekey: 6413
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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Place of Event: Anchorage, AK, USA
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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3562 - 3568 Identifier: -