Proceedings ArticleDOI
Optimal Cooperative Pursuit on a Manhattan Grid
Reads0
Chats0
TLDR
The optimal control of two pursuers searching for a slower moving evader on a Manhattan grid road network is considered and exact values for the minimum time guaranteed capture of the evaders on the Manhattan grid are derived.Abstract:
The optimal control of two pursuers searching for a slower moving evader on a Manhattan grid road network is considered. The pursuers do not have on-board capability to detect the evader and rely instead on Unattended Ground Sensors (UGSs) to locate the evader. We assume that all the intersections in the road network have been instrumented with UGSs. When an evader passes by an UGS location, it triggers the UGS and this time-stamped information is stored by the UGS. When a pursuer arrives at an UGS location, the UGS informs the pursuer if and when the evader passed by. When the evader and a pursuer arrive at an UGS location simultaneously, the UGS is triggered and this information is instantly relayed to the pursuer, thereby enabling “capture”. We derive exact values for the minimum time guaranteed capture of the evader on the Manhattan grid and the corresponding pursuit policy.read more
Citations
More filters
Proceedings ArticleDOI
Field experiment of a fully autonomous multiple UAV/UGS intruder detection and monitoring system
TL;DR: This document describes the motivation, theoretical description, development, and field test of a system utilizing multiple Unmanned Aerial Vehicles that cooperate with each other, using Unattended Ground Sensors (UGS), to monitor an area, detect intruder vehicles, capture imagery of the intruders, and deliver that imagery to the home base.
Proceedings ArticleDOI
Minimum time UAV pursuit of a moving ground target using partial information
TL;DR: The optimal control of a “blind” UAV searching for a target moving on a road network and heading at a known speed toward a set of goal vertices is considered.
Journal ArticleDOI
Pursuit of a Moving Target with Known Constant Speed on a Directed Acyclic Graph under Partial Information
TL;DR: This work considers the optimal control of a “blind” pursuer searching for an evader moving on a road network with fixed speed toward a set of goal locations that has been instrumented with unattended ground sensors that detect the evader's motion.
Journal ArticleDOI
Intruder Isolation on a General Road Network Under Partial Information
TL;DR: This paper focuses on finding the optimal sequence of UGSs for the UAV to visit and the corresponding waiting time around each UGS to achieve isolation for the two variants of the IIP.
References
More filters
Journal ArticleDOI
Recursive state estimation: Unknown but bounded errors and system inputs
TL;DR: A recursive algorithm is developed which calculates a time-varying ellipsoid in state space that always contains the system's true state and is motivated by the problem of tracking an evasive target, but the results have wider applications.
Journal ArticleDOI
Recursive state estimation for a set-membership description of uncertainty
Dimitri P. Bertsekas,I. Rhodes +1 more
TL;DR: In this paper, the problem of estimating the state of a linear dynamic system using noise-corrupted observations, when input disturbances and observation errors are unknown except for the fact that they belong to given bounded sets, is considered.
Journal ArticleDOI
On the minimax reachability of target sets and target tubes
Dimitri P. Bertsekas,I. Rhodes +1 more
TL;DR: In this article, a closed-loop control of discrete-time systems in the presence of uncertainty is studied, where the uncertainty may arise as disturbances in the system dynamics, disturbances corrupting the output measurements or incomplete knowledge of the initial state of the system.
Journal ArticleDOI
Dual effect, certainty equivalence, and separation in stochastic control
Yaakov Bar-Shalom,Edison Tse +1 more
TL;DR: In this paper, the difference between the feedback and closed-loop policies is discussed, and it is shown how the closed loop policy has the important property that it can be actively adaptive, while the feedback policy can only be passively adaptive.
Journal ArticleDOI
An annotated bibliography on guaranteed graph searching
TL;DR: This annotated bibliography gives an elementary classification of problems and results related to graph searching and provides a source of bibliographical references on this field.