Cognetti, Marco and De Simone, Daniele and Patota, Federico and Scianca, Nicola and Lanari, Leonardo and Oriolo, Giuseppe (2017) Real-time pursuit-evasion with humanoid robots. 2017 IEEE International Conference on Robotics and Automation (ICRA). pp. 4090-4095.
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Abstract
We consider a pursuit-evasion problem between humanoids. In our scenario, the pursuer enters the safety area of the evader headed for collision, while the latter executes a fast evasive motion. Control schemes are designed for both the pursuer and the evader. They are structurally identical, although the objectives are different: the pursuer tries to align its direction of motion with the line-of-sight to the evader, whereas the evader tries to move in a direction orthogonal to the line-of-sight to the pursuer. At the core of the control scheme is a maneuver planning module which makes use of closed-form expressions exclusively. This allows its use in a replanning framework, where each robot updates its motion plan upon completion of a step to account for the perceived motion of the other. Simulation and experimental results on NAO humanoids reveal an interesting asymptotic behavior which was predicted using unicycle as template models for trajectory generation.
| Item Type: | Article |
|---|---|
| Keywords: | real time; pursuit-evasion; humanoid; robots; |
| Academic Unit: | Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute |
| Item ID: | 15334 |
| Identification Number: | https://doi.org/10.1109/ICRA.2017.7989470 |
| Depositing User: | Marco Cognetti |
| Date Deposited: | 24 Jan 2022 16:53 |
| Journal or Publication Title: | 2017 IEEE International Conference on Robotics and Automation (ICRA) |
| Publisher: | IEEE |
| Refereed: | Yes |
| URI: | |
| Use Licence: | This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here |
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