Robust-by-Design Plans for Multi-Robot Pursuit-Evasion
Trevor Olsen,Nicholas M. Stiffler,Jason M. O'Kane,Trevor Olsen,Nicholas M. Stiffler,Jason M. O'Kane
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation of the pursuit-evasion problem that modifies the pursuers' objective by requiring that the evader still be de-tected, even in spite of the failure of any singl...
