Reference : An iterative Mixed Integer Linear Programming Approach to pursuit evasion problems in...
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http://hdl.handle.net/10993/20691
An iterative Mixed Integer Linear Programming Approach to pursuit evasion problems in polygonal environments
English
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Ögren, P. []
2010
Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA)
IEEE
5498–5503
Yes
2010 IEEE International Conference on Robotics and Automation (ICRA)
3-7 May, 2010
Anchorage, AK
[en] Pursuit evasion ; MILP
[en] In this paper, we address the multi pursuer version of the pursuit evasion problem in polygonal environments. It is well known that this problem is NP-hard, and therefore we seek efficient, but not optimal, solutions by relaxing the problem and applying the tools of Mixed Integer Linear Programming (MILP) and Receding Horizon Control (RHC). Approaches using MILP and RHC are known to produce efficient algorithms in other path planning domains, such as obstacle avoidance. Here we show how the MILP formalism can be used in a pursuit evasion setting to capture the motion of the pursuers as well as the partitioning of the pursuit search region into a cleared and a contaminated part. RHC is furthermore a well known way of balancing performance and computation requirements by iteratively solving path planning problems over a receding planning horizon, and adapt the length of that horizon to the computational resources available. The proposed approach is implemented in Matlab/Cplex and illustrated by a number of solved examples.
http://hdl.handle.net/10993/20691
10.1109/ROBOT.2010.5509438

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