<> "The repository administrator has not yet configured an RDF license."^^ . <> . . "Multi-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles"^^ . "Robotic applications like search and rescue missions, surveillance, police missions, patrolling, and warfare can all be modeled as a Pursuit-Evasion Game\r\n(PEG). Most of these tasks are multi-agent problems, often including a cooperation between team members and a conflict between adversarial teams.\r\nIn order to realize such a situation with robots, two major problems have\r\nto be solved. Initially, a decomposition of the PEG has to be performed for\r\ngetting results in reasonable time. Present embedded computers lack the\r\ncomputational power enabling them to process the highly complex solution\r\nalgorithm of the non-decomposed game fast enough. Secondly, a framework\r\nhas to be defined, enabling the computation of optimal actions for both the\r\npursuers and the evaders when a cooperation within the teams is possible. It\r\nis intended to develop strategies, that allow the team of pursuers to capture\r\na faster evader in a visibility-based PEG setup due to cooperation.\r\nFor tackling the first problem a game structure is sought, aiming to considerably reduce the time complexity of the solution process. The first step is the decomposition of the action space, and the second is the change of the game structure itself. The latter is reached by defining a two-pursuer one-evader PEG with three different game structures, which are the Non-Decomposed Game, the Multiple Two-Player Game Decomposition (MTPGD) game, and the Team-Subsumption Two-Player Game (TSTPG). Several simulation results demonstrate, that both methods yield close results in respect to the full game. With increasing cardinality of each player’s strategy space, the\r\nMTPGD yields a relevant decrease of the run-time. Otherwise, the TSTPG\r\ndoes not minimize the time complexity, but enables the use of more sophisticated algorithms for two-player games, resulting in a decreased runtime.\r\nThe cooperation within a team is enabled by introducing a hierarchical decomposition of the game. On a superordinate collaboration level, the pursuers choose their optimal behavioral strategy (e.g. pursuit and battue)\r\nresulting in the case of a two-pursuer one-evader PEG in a three-player noncooperative dynamic game, which is solved in a subordinate level of the\r\noverall game. This structure enables an intelligent behavior change for the pursuers based on game-theoretical solution methods. Depending on the\r\nstate of the game, which behavioral strategy yields the best results for the\r\npursuers within a predefined time horizon has to be evaluated. It is shown\r\nthat the pursuer’s outcome can be improved by using a superordinate cooperation. Moreover, conditions are presented under which a capture of a\r\nfaster evader by a group of two pursuers is possible in a visibility-based PEG\r\nwith imperfect information.\r\nSince Unmanned Aerial Vehicles (UAVs) are increasingly a common platform\r\nused in the aforementioned applications, this work focuses only on PEGs with\r\nmulti-rotor UAVs. Furthermore, the realization of the concepts in this thesis\r\nare applied on a real hex rotor. The feasibility of the approach is proven in\r\nexperiments, while all implementations on the UAV are running in real-time.\r\nThis framework provides a solution concept for all types of dynamic games\r\nwith an 1-M or N-1 setup, that have a non-cooperative and cooperative\r\nnature. At this stage a N-M dynamic game is not applicable. Nevertheless,\r\nan approach to extend this framework to the N-M case is proposed in the\r\nlast chapter of this work."^^ . "2017" . . . . . . . "Alexander"^^ . "Alexopoulos"^^ . "Alexander Alexopoulos"^^ . . . . . . "Multi-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles (PDF)"^^ . . . "DissAlexopoulosSubmit.pdf"^^ . . . "Multi-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles (Other)"^^ . . . . . . "indexcodes.txt"^^ . . . "Multi-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles (Other)"^^ . . . . . . "lightbox.jpg"^^ . . . "Multi-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles (Other)"^^ . . . . . . "preview.jpg"^^ . . . "Multi-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles (Other)"^^ . . . . . . "medium.jpg"^^ . . . "Multi-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles (Other)"^^ . . . . . . "small.jpg"^^ . . "HTML Summary of #23062 \n\nMulti-Agent Pursuit of a Faster Evader with Application to Unmanned Aerial Vehicles\n\n" . "text/html" . . . "004 Informatik"@de . "004 Data processing Computer science"@en . .