Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers

Submitted by Antonio Franchi on

ImageThese videos show a group of mobile robots (real and simulated ones) while clearing an environment in a decentralized way without using neither global map nor a global localization system. The robots have limited-range communication and perception.

The video show an implementation of the clearing (pursuit-evasion) framework proposed in [1] and [2]

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

References

  1. J. W. Durham, Franchi, A., and Bullo, F., “Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers”, Autonomous Robots, vol. 32, no. 1, pp. 81-95, 2012.
  2. 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.