Abstract
This paper addresses and solves the problem of finding optimal clearing strategies for a team of robots in an environment given as a graph. The graph-clear model is used in which sweeping of locations, and their recontamination by intruders, is modelled over a surveillance graph. Optimization of strategies is carried out for shortest total travel distance and time taken by the robot team and under constraints of clearing costs of locations. The physical constraints of access and timely movements by the robots are also accounted for, as well as the ability of the robots to prevent recontamination of already cleared areas. The main result of the paper is that this complex problem can be reduced to a computable LP problem. To further reduce complexity, an algorithm is presented for the case when graph clear strategies are a priori available by using other methods, for instance by model checking.
This Work Was Supported by the EPSRC Project EP/J011894/2.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Borie, R., Tovey, C., Koenig, S.: Algorithms and complexity results for pursuit-evasion problems. In: Proceedings of the International Joint Conference on Artificial Intelligence, pp. 59–66 (2009)
Chung, T.H., Hollinger, G.A., Isler, V.: Search and pursuit-evasion in mobile robotics. Autonomous Robots 31(4), 299–316 (2011)
Fomin, F.V., Thilikos, D.M.: An annotated bibliography on guaranteed graph searching. Theoretical Computer Science 399(3), 236–245 (2008)
Gurobi Optimization, Inc., Gurobi optimizer reference manual (2014)
Kolling, A., Carpin, S.: The graph-clear problem: definition, theoretical properties and its connections to multirobot aided surveillance. In: Proc. of IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 1003–1008 (2007)
Kolling, A., Carpin, S.: Extracting surveillance graphs from robot maps. In: Proceedings of IROS 2008, pp. 2323–2328 (2008)
Kolling, A., Carpin, S.: Multi-robot surveillance: an improved algorithm for the graph-clear problem. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2360–2365 (2008)
Kolling, A., Carpin, S.: Surveillance strategies for target detection with sweep lines. In: Proceedings of IROS 2009, pp. 5821–5827 (2009)
Kolling, A., Carpin, S.: Multi-robot pursuit-evasion without maps. In: Proceedings of ICRA 2010, pp. 3045–3051 (2010)
Kolling, A., Carpin, S.: Pursuit-evasion on trees by robot teams. IEEE T. Robot. 26(1), 32–47 (2010)
Kolling, A., Kleiner, A.: Multi-uav motion planning for guaranteed search. In: Proceedings of AAMAS 2013, pp. 79–86 (2013)
Parsons, T.D.: Pursuit-evasion in a graph. In: Alavi, Y., Lick, D.R. (eds.) Theory and Applications of Graphs. LNCS, vol. 642, pp. 426–441. Springer, Heidelberg (1992)
Qu, H., Kolling, A., Veres, S.M.: Formulating robot pursuit-evasion strategies by model checking. In: Proceedings of IFAC 2014, pp. 3048–3055 (2014)
Thunberg, J., Ögren, P.: A mixed integer linear programming approach to pursuit evasion problems with optional connectivity constraints. Auton. Robots 31(4), 333–343 (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Qu, H., Kolling, A., Veres, S.M. (2015). Computing Time-Optimal Clearing Strategies for Pursuit-Evasion Problems with Linear Programming. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_26
Download citation
DOI: https://doi.org/10.1007/978-3-319-22416-9_26
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22415-2
Online ISBN: 978-3-319-22416-9
eBook Packages: Computer ScienceComputer Science (R0)