Multi-robot pursuit-evasion

Image This video shows a set of significant simulations of the multi-robot pursuit-evasion algorithm. The first part presents a simulation with three searchers in a eight-shaped environment and explains the basic concepts of the algorithm. The second part presents a simulation in a bigger environment, and the third part shows the emergent behavior in open spaces.

The video shows an implementation of the encirclement controller proposed in [1].

This algorithm addresses a distributed, visibility-based pursuit-evasion problem in which one or more searchers must coordinate to guarantee detection of any and all evaders in an unknown planar environment while using only local information. The motivation is to develop algorithms to enable teams of robots to perform bomb or intruder detection and other related security tasks. It is a distributed clearing algorithm for a team of d-searchers with limited range sensors. The algorithm is built around guaranteeing complete coverage of the frontier between cleared and contaminated areas while expanding the cleared area. A novel approach to storing and updating the global frontier enables the algorithm to be truly distributed.

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


  1. J. W. Durham, Franchi, A., and Bullo, F., Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3562-3568.