Coordinated Control of Multiple Mobile Robots in Pursuit-Evasion Games

This paper considers the scenario that a team of autonomous robots pursues a smart evader while concurrently building a global map in an unknown environment. We develop a modular hybrid system architecture to implement the decentralized control and coordination of multiple pursuers. A probabilistic framework is established to integrate the map building process with evader detection. Taking account of the nonholonomic constraints of vehicles, we improve the global-max pursuit policy with a novel underlying navigation method. Experimental results with physical robots demonstrate the effectiveness of our approach.http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000270044901145&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701Automation & Control SystemsEICPCI-S(ISTP)