Robotics Research Paper

Jul 4th, 2015
Studypool Tutor
Price: $20 USD

Tutor description


Word Count: 15580
Showing Page: 1/16
32IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 1, FEBRUARY 2010Pursuit-Evasion on Trees by Robot TeamsAndreas Kolling, Student Member, IEEE, and Stefano Carpin, Member, IEEEAbstractWe present Graph-Clear: a novel pursuit-evasionproblem on graphs which models the detection of intruders incomplex indoor environments by robot teams. The environment isrepresented by a graph, and a robot team can execute sweep andblock actions on vertices and edges, respectively. A sweep action detects intruders in a vertex and represents the capability of the robotteam to detect intruders in the region associated to the vertex. Similarly, a block action prevents intruders from crossing an edge andrepresents the capability to detect intruders as they move betweenregions. Both actions may require multiple robots to be executed.A strategy is a sequence of block and sweep actions to detect all intruders. When instances of Graph-Clear are being solved, the goalis to determine optimal strategies, i.e., strategies that use the leastnumber of robots. We prove that for the general case of graphs, theproblem of computation of optimal strategies is NP-hard. Next, forthe special case of trees, we provide a polynomial-time algorithm.The algorithm ensures that throughout the execution of the strategy, all cleared vertices form a connected subtree, and we showthat it produces optimal strategies.Index TermsDistributed robot systems, pursuit-evasion games,surveillance systems.I. INTR

Review from student

Studypool Student
" The best tutor out there!!!! "
Ask your homework questions. Receive quality answers!

Type your question here (or upload an image)

1819 tutors are online

Brown University

1271 Tutors

California Institute of Technology

2131 Tutors

Carnegie Mellon University

982 Tutors

Columbia University

1256 Tutors

Dartmouth University

2113 Tutors

Emory University

2279 Tutors

Harvard University

599 Tutors

Massachusetts Institute of Technology

2319 Tutors

New York University

1645 Tutors

Notre Dam University

1911 Tutors

Oklahoma University

2122 Tutors

Pennsylvania State University

932 Tutors

Princeton University

1211 Tutors

Stanford University

983 Tutors

University of California

1282 Tutors

Oxford University

123 Tutors

Yale University

2325 Tutors