Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 2, Issue 2, Pages 530-537Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2016.2645516
Keywords
Distributed robot systems; path planning for multiple mobile robots or agents; autonomous agents
Categories
Funding
- National Science Foundation [CNS-1330036, IIS-1646921]
- SAIL-Toyota Center for AI Research
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1646921] Funding Source: National Science Foundation
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We propose a distributed algorithm for the cooperative pursuit of multiple evaders using multiple pursuers in a bounded convex environment. The algorithm is suitable for intercepting rogue drones in protected airspace, among other applications. The pursuers do not know the evaders' policy, but by using a global area-minimization strategy based on a Voronoi tessellation of the environment, we guarantee the capture of all evaders in finite time. We present a decentralized version of this policy applicable in two-dimensional (2-D) and 3-D environments, and show in multiple simulations that it outperforms other decentralized multipursuer heuristics. Experiments with both autonomous and human-controlled robots were conducted to demonstrate the practicality of the approach. Specifically, human-controlled evaders are not able to avoid capture with the algorithm.
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