Topological Abstraction and Planning for the Pursuit-Evasion Problem
Thursday, October 1, 2015 - 1:30pm - 2:30pm
In this talk, we will present some initial work on planning using topological abstraction. We will consider a multi-pursuer multi-evader problem as a case study to ground the discussion. We will describe how we can cast the abstraction problem as a topological problem and by leveraging sheaf theoretic methods develop a framework to search for strategies that lead to evader capture. We will show how the sheaf can be leveraged to encode the belief state of the problem and how the capture event can be formalized through topological property of the sheaf. We will assume pursuers with limited detection range and an unknown number of evaders with arbitrary motion capabilities.