A Stigmergy-Based Model for Solving Cooperative Pursuit-Evasion Games in Unknown Environments

We describe our preliminary results for a novel emergent algorithm inspired by the phenomenon of stigmergy in insect colonies, to solve the n-collaborative pursuit-evasion game. Our initial results with different numbers of pursuers and evaders in a scenario simulated within the Webots environment, illustrate that pursuers using our emergent algorithm are able to detect different number of evaders with reasonable accuracy in various settings.

[1]  Prithviraj Dasgupta,et al.  A Multiagent Swarming System for Distributed Automatic Target Recognition Using Unmanned Aerial Vehicles , 2008, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[2]  S. Shankar Sastry,et al.  Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation , 2002, IEEE Trans. Robotics Autom..

[3]  Sampath Kannan,et al.  Randomized Pursuit-Evasion in a , 2005 .

[4]  Geoffrey A. Hollinger,et al.  Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.