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Pursuit-Evasion: Multiple Pursuer Pursue Multiple Evader Using WaveFront and Hungarian Method

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Proceedings of the International Conference on Computing and Communication Systems

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 24))

Abstract

Traditional pursuit-evasion search algorithms usually search for single evader in a simple environment. In this paper, we have proposed an algorithm that searches for a path from multiple starting points to multiple target points (static/dynamic) in real time in real world. The world consists of a grid of cells comprising of static and dynamic obstacles. The algorithm uses available environmental information to successfully capture the evader in dynamic and complex environments. For each evader, a probability matrix is maintained which contains the probability of finding the evader at that position. These probabilities are used to predicting locations of evaders and subsequently solve the problem. Multiple pursuers coordinate among themselves to update and reduce probability matrix. The algorithm uses Wavefront algorithm for path finding and Hungarian algorithm for minimum cost assignment. The algorithm is used in various static and dynamic environments with a different number of pursuers and evaders to solve the problem.

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Author information

Authors and Affiliations

  1. Robotics and Intelligent System Design Lab, Indian Institute of Information Technology and Management, Gwalior, India

    Ayush Mittal, Akshay Jain, Akshay Kumar & Ritu Tiwari

Authors
  1. Ayush Mittal
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  2. Akshay Jain
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  3. Akshay Kumar
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  4. Ritu Tiwari
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Corresponding author

Correspondence to Akshay Kumar .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Engineering, University of Kalyani, Kalyani, West Bengal, India

    J. K. Mandal

  2. Department of Information Technology, North-Eastern Hill University, Shillong, Meghalaya, India

    Goutam Saha

  3. Department of Information Technology, North-Eastern Hill University, Shillong, Meghalaya, India

    Debdatta Kandar

  4. Department of Information Technology, North-Eastern Hill University, Shillong, Meghalaya, India

    Arnab Kumar Maji

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Mittal, A., Jain, A., Kumar, A., Tiwari, R. (2018). Pursuit-Evasion: Multiple Pursuer Pursue Multiple Evader Using WaveFront and Hungarian Method. In: Mandal, J., Saha, G., Kandar, D., Maji, A. (eds) Proceedings of the International Conference on Computing and Communication Systems. Lecture Notes in Networks and Systems, vol 24. Springer, Singapore. https://doi.org/10.1007/978-981-10-6890-4_46

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  • DOI: https://doi.org/10.1007/978-981-10-6890-4_46

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6889-8

  • Online ISBN: 978-981-10-6890-4

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