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Tracking an omnidirectional evader with a differential drive robot,
 Autonomous Robots
, 2011
"... In this paper, we address the pursuitevasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader ..."
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In this paper, we address the pursuitevasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change its motion direction instantaneously. Only a purely kinematic problem is considered, and any effect due to dynamic constraints (e.g., acceleration bounds) is neglected. We provide a criterion for partitioning the configuration space of the problem into two regions, so that in one of them the DDR is able to control the system, in the sense that, by applying a specific strategy (also provided), the DDR can achieve any interagent distance (within an error bound), regardless of the actions taken by the OA. Particular applications of these results include the capture of the OA by the DDR and maintaining surveillance of the OA at a bounded variable distance.
1TimeOptimal Motion Strategies for Capturing an Omnidirectional Evader using a Differential Drive Robot
"... Abstract—In this paper, we consider the problem of capturing an omnidirectional evader using a Differential Drive Robot (DDR) in an obstaclefree environment. At the beginning of this game the evader is at a distance L> l (the capture distance) from the pursuer. The goal of the evader is to keep ..."
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Abstract—In this paper, we consider the problem of capturing an omnidirectional evader using a Differential Drive Robot (DDR) in an obstaclefree environment. At the beginning of this game the evader is at a distance L> l (the capture distance) from the pursuer. The goal of the evader is to keep the pursuer farther than this capture distance as long as possible. The goal of the pursuer is to capture the evader as soon as possible. In this work, we make the following contributions: We present closedform representations of the motion primitives and timeoptimal 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 towards the goal of winning the game. We propose a partition of the playing space into mutually disjoint regions where the strategies of the players are well established. This partition is represented as a graph which exhibits properties that guarantee global optimality. We also analyze the decision problem of the game and we present the conditions defining the winner.
Single and Dual Arm Manipulator Motion Planning Library
"... Abstract — In this work a library for solving manipulator motion planning problems has been developed and an algorithm for imposing Cartesian constraints in single arm and dual arm operation has been proposed. The main algorithm is based on RRT [1]. The code has been tested with several single arm a ..."
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Abstract — In this work a library for solving manipulator motion planning problems has been developed and an algorithm for imposing Cartesian constraints in single arm and dual arm operation has been proposed. The main algorithm is based on RRT [1]. The code has been tested with several single arm and dual arm robots. Our method is able to find collision free paths in environments occupied with obstacles. An example of such an environment is the shelf from the Amazon picking challenge. The implemented code also enabled us to perform complicated dual arm operations such as rotating a hand wheel or opening a drawer.