Active Adversarial Evader Tracking with a Probabilistic Pursuer under the Pursuit-Evasion Game Framework

04/19/2019
by   Varun Chandra Jammula, et al.
0

Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor environment with obstacles. The mobile robot that follows the target is considered a pursuer and the agent being followed is considered an evader. We propose a probabilistic framework for both the pursuer and evader to achieve their conflicting goals. We introduce a smart evader that has information about the location of the pursuer. The goal of this variant of the evader is to avoid being tracked by the pursuer by using the visibility region information obtained from the pursuer, to further challenge the proposed smart pursuer. To validate the efficiency of the framework, we conduct several experiments in simulation by using Gazebo and evaluate the success rate of tracking an evader in various environments with different pursuer to evader speed ratios. Through our experiments we validate our hypothesis that a smart pursuer tracks an evader more effectively than a pursuer that just navigates in the environment randomly. We also validate that an evader that is aware of the actions of the pursuer is more successful at avoiding getting tracked by a smart pursuer than a random evader. Finally, we empirically show that while a smart pursuer does increase it's average success rate of tracking compared to a random pursuer, there is an increased variance in its success rate distribution when the evader becomes aware of its actions.

READ FULL TEXT

page 1

page 3

page 5

page 6

page 7

research
03/11/2021

Visibility-aware Trajectory Optimization with Application to Aerial Tracking

The visibility of targets determines performance and even success rate o...
research
06/10/2023

Probabilistic Visibility-Aware Trajectory Planning for Target Tracking in Cluttered Environments

Target tracking with a mobile robot has numerous significant application...
research
12/06/2022

Visibility-Aware Navigation Among Movable Obstacles

In this paper, we examine the problem of visibility-aware robot navigati...
research
05/02/2019

From Video Game to Real Robot: The Transfer between Action Spaces

Training agents with reinforcement learning based techniques requires th...
research
05/11/2020

Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations

Many methods in learning from demonstration assume that the demonstrator...
research
07/08/2021

Active Safety Envelopes using Light Curtains with Probabilistic Guarantees

To safely navigate unknown environments, robots must accurately perceive...
research
05/10/2023

SMART: Self-Morphing Anytime Replanning Tree

The paper presents an algorithm, called Self- Morphing Anytime Replannin...

Please sign up or login with your details

Forgot password? Click here to reset