Toward Realistic Pursuit-Evasion Using a Roadmap-Based Approach Conference Paper uri icon


  • In this work, we describe an approach for modeling and simulating group behaviors for pursuit-evasion that uses a graph-based representation of the environment and integrates multi-agent simulation with roadmap-based path planning. Our approach can be applied to more realistic scenarios than are typically studied in most previous work, including agents moving in 3D environments such as terrains, multi-story buildings, and dynamic environments. We also support more realistic three-dimensional visibility computations that allow evading agents to hide in crowds or behind hills. We demonstrate the utility of this approach on mobile robots and in simulation for a variety of scenarios including pursuit-evasion and tag on terrains, in multi-level buildings, and in crowds. 2011 IEEE.

name of conference

  • 2011 IEEE International Conference on Robotics and Automation

published proceedings


author list (cited authors)

  • Rodriguez, S., Denny, J., Burgos, J., Mahadevan, A., Manavi, K., Murray, L., ... Amato, N. M.

citation count

  • 8

complete list of authors

  • Rodriguez, Samuel||Denny, Jory||Burgos, Juan||Mahadevan, Aditya||Manavi, Kasra||Murray, Luke||Kodochygov, Anton||Zourntos, Takis||Amato, Nancy M

publication date

  • May 2011