Swarm Coordination for Pursuit Evasion Games using Sensor Networks

— In this work we consider the problem of pursuit evasion games (PEGs) where a group of pursuers is required to detect, chase and capture a group of evaders with the aid of a sensor network in minimum time. Differently from standards PEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer onboard sensors, here we consider a scenario where a sensor network, previously deployed in the region of concern, can detect the presence of moving vehicles and can relay this information to the pursuers. Here we propose a general framework for the design of a hierarchical control architecture that exploit the advantages of a sensor networks by combining both centralized and decentralized real-time control algorithms. We also propose a coordination scheme for the pursuers to minimize the time-to-capture of all evaders. In particular, we focus on PEGs with sensor networks orbiting in space for artificial space debris detection and remo...

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Luca Schenato, Songhwai Oh, Shankar Sastry, Prasanta K. Bose
• Keywords: ICRA 2005, Pursuer Onboard Sensors, Pursuit Evasion Games, Robotics, Sensor Networks