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Paper WeD01.3

Ruiz, Ubaldo (CIMAT), Murrieta-Cid, Rafael (Center for Mathematical Research)

A Homicidal Differential Drive Robot

Scheduled for presentation during the Regular Session "Non-Holonomic Motion Planning" (WeD01), Wednesday, May 16, 2012, 17:00−17:15, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Nonholonomic Motion Planning, Motion and Path Planning, Reactive and Sensor-Based Planning

Abstract

In this paper, we consider the problem of capturing an omnidirectional evader using a Differential Drive Robot in an obstacle free environment. At the beginning of the game the evader is at a distance L>l from the pursuer. The pursuer goal is to get closer from the evader than the capture distance l. The goal of the evader is to keep the pursuer at all time farther from it than this capture distance. In this paper, we found closed-form representations of the motion primitives and time-optimal strategies for each player. These strategies are in Nash Equilibrium, meaning that any unilateral deviation of each player from these strategies does not provide to such player benefit toward the goal of winning the game. We also present the condition defining the winner of the game and we construct a solution over the entire reduced space.

 

 

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