Reference : A boolean control network approach to pursuit evasion problems in polygonal environments
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/10993/20679
A boolean control network approach to pursuit evasion problems in polygonal environments
English
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Ogren, P. []
Hu, X. []
2011
Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA)
IEEE
4506 - 4511
Yes
2011 IEEE International Conference on Robotics and Automation (ICRA)
9-13 May 2011
Shangai
China
[en] In this paper, the multi pursuer version of the pursuit evasion problem in polygonal environments is addressed. This problem is NP-hard, and therefore we seek good enough, but not optimal solutions. By modeling the problem as a Boolean Control Network, we can efficiently keep track of which regions are cleared, and which are not, while the input nodes of the network are used to represent the motion of the pursuers. The environment is partitioned into a set of convex regions, where each region correspond to a set of nodes in the network. The method is implemented in ANSI C, and efficiently solves complex environments containing multiple loops and requiring so-called recontamination. The provided examples demonstrate the effectiveness of the method in terms of computational time.
http://hdl.handle.net/10993/20679
10.1109/ICRA.2011.5979948

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