Article (Scientific journals)
A mixed integer linear programming approach to pursuit evasion problems with optional connectivity constraints
Thunberg, Johan; Ögren, P.
2011In Autonomous Robots, 31 (4), p. 333-343
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Keywords :
Pursuit evasion; MILP; Search
Abstract :
[en] In this paper, we address the multi pursuer version of the pursuit evasion problem in polygonal environments. By discretizing the problem, and applying a Mixed Integer Linear Programming (MILP) framework, we are able to address problems requiring so-called recontamination and also impose additional constraints, such as connectivity between the pursuers. The proposed MILP formulation is less conservative than solutions based on graph discretizations of the environment, but still somewhat more conservative than the original underlying problem. It is well known that MILPs, as well as multi pursuer pursuit evasion problems, are NP-hard. Therefore we apply an iterative Receding Horizon Control (RHC) scheme where a number of smaller MILPs are solved over shorter planning horizons. The proposed approach is implemented in Matlab/Cplex and illustrated by a number of solved examples.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Thunberg, Johan ;  University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Ögren, P.
External co-authors :
yes
Language :
English
Title :
A mixed integer linear programming approach to pursuit evasion problems with optional connectivity constraints
Publication date :
November 2011
Journal title :
Autonomous Robots
ISSN :
1573-7527
Publisher :
Springer Science & Business Media B.V.
Volume :
31
Issue :
4
Pages :
333-343
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBilu :
since 25 March 2015

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