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Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers

Submitted by admin on Fri, 10/07/2011 - 14:45

ImageThese videos show a group of mobile robots (real and simulated ones) while clearing an environment in a decentralized way without using neither global map nor a global localization system. The robots have limited-range communication and perception.

The video show an implementation of the clearing (pursuit-evasion) framework proposed in [1] and [2]

See also the pursuit-evasion page for an overview on the topic.

References

  1. Durham, J. W., A. Franchi, and F. Bullo, "Distributed Pursuit-Evasion without Mapping and Global Localization via Local Frontiers", Autonomous Robots, vol. 32, issue 1, pp. 81-95, 01/2012.
  2. Durham, J. W., A. Franchi, and F. Bullo, "Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration", 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, pp. 3562-3568, 05/2010.