Pursuit evasion in dynamic environments with visibility constraints

Ibrahim Al-Bluwi; Ashraf Elnagar

doi:10.1007/978-3-642-16587-0_12

Pursuit evasion in dynamic environments with visibility constraints

Ibrahim Al-Bluwi, Ashraf Elnagar

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

This paper presents a novel approach for the problem of tracking a moving target in a dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.

Original language	English (US)
Title of host publication	Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Pages	116-129
Number of pages	14
Edition	PART 2
DOIs	https://doi.org/10.1007/978-3-642-16587-0_12
State	Published - 2010
Event	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China Duration: Nov 10 2010 → Nov 12 2010

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	6425 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Country/Territory	China
City	Shanghai
Period	11/10/10 → 11/12/10

All Science Journal Classification (ASJC) codes

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-642-16587-0_12

Cite this

Al-Bluwi, I., & Elnagar, A. (2010). Pursuit evasion in dynamic environments with visibility constraints. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings (PART 2 ed., pp. 116-129). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6425 LNAI, No. PART 2). https://doi.org/10.1007/978-3-642-16587-0_12

Al-Bluwi, Ibrahim ; Elnagar, Ashraf. / Pursuit evasion in dynamic environments with visibility constraints. Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2. ed. 2010. pp. 116-129 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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title = "Pursuit evasion in dynamic environments with visibility constraints",

abstract = "This paper presents a novel approach for the problem of tracking a moving target in a dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.",

author = "Ibrahim Al-Bluwi and Ashraf Elnagar",

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Al-Bluwi, I & Elnagar, A 2010, Pursuit evasion in dynamic environments with visibility constraints. in Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 6425 LNAI, pp. 116-129, 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010, Shanghai, China, 11/10/10. https://doi.org/10.1007/978-3-642-16587-0_12

Pursuit evasion in dynamic environments with visibility constraints. / Al-Bluwi, Ibrahim; Elnagar, Ashraf.
Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2. ed. 2010. p. 116-129 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6425 LNAI, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This paper presents a novel approach for the problem of tracking a moving target in a dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.

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Al-Bluwi I, Elnagar A. Pursuit evasion in dynamic environments with visibility constraints. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings. PART 2 ed. 2010. p. 116-129. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-642-16587-0_12

Pursuit evasion in dynamic environments with visibility constraints

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