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A boolean control network approach to pursuit evasion problems in polygonal environments
Thunberg, Johan; Ogren, P.; Hu, X.
2011In Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA)
Peer reviewed
 

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Abstract :
[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.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Thunberg, Johan ;  University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Ogren, P.
Hu, X.
External co-authors :
yes
Language :
English
Title :
A boolean control network approach to pursuit evasion problems in polygonal environments
Publication date :
2011
Event name :
2011 IEEE International Conference on Robotics and Automation (ICRA)
Event place :
Shangai, China
Event date :
9-13 May 2011
Main work title :
Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA)
Publisher :
IEEE
Pages :
4506 - 4511
Peer reviewed :
Peer reviewed
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