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This paper considers the scenario that a team of autonomous robots pursues a smart evader while concurrently building a global map in an unknown environment. We develop a modular hybrid system architecture to implement the decentralized control and coordination of multiple pursuers. A probabilistic framework is established to integrate the map building process with evader detection. Taking account...
In this paper we present a multi-agent coordination algorithm suitable for systems with aircraft-like kinematic constraints. A model of a system of input-constrained non-holonomic agents is constructed, suitable for use with formal verification tools. The agents considered are uniform and have bounded velocities and limited turning capabilities. We demonstrate how a model checker can be used to generate...
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