Planning random path distributions for ambush games in unstructured environments

Emmanuel Boidot, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Operating vehicles in adversarial environments require non-conventional planning techniques. A two-player, zero-sum non-cooperative game is introduced, and solved via a linear program. An extension is proposed to construct networks displaying good representations of the environment characteristics, while offering acceptable results for the technique used. Sensitivity of the solution to the LP solver algorithm is identified. The planner's performances are finally assessed by comparison with those of conventional planners. Results are used to formulate secondary objectives to the problem. © 2012 IEEE.
Original languageEnglish (US)
Title of host publication2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012
DOIs
StatePublished - Dec 1 2012
Externally publishedYes

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