Distributed pursuit-evasion game : Evaluation of some communication schemes

Abstract

A probabilistic pursuit.evasion game from the literature is used as an example to study constrained communication in multi-robot systems. Communication protocols based on time-triggered and event-triggered synchronization schemes are considered. It is shown that by limiting the communication to events when the probabilistic map derived by the individual pursuers contain new information, as measured through their map entropy, the utilization of the communication link can be considerably improved compared to conventional time-triggered communication.