{"id":"https://openalex.org/W2008751414","doi":"https://doi.org/10.1109/robot.2010.5509438","title":"An iterative Mixed Integer Linear Programming Approach to pursuit evasion problems in polygonal environments","display_name":"An iterative Mixed Integer Linear Programming Approach to pursuit evasion problems in polygonal environments","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2008751414","doi":"https://doi.org/10.1109/robot.2010.5509438","mag":"2008751414"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509438","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034158033","display_name":"Johan Thunberg","orcid":"https://orcid.org/0000-0002-9738-4148"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Johan Thunberg","raw_affiliation_strings":["Division of Optimization and Systems Theory, Royal Institute of Technology (KTH), Stockholm, Sweden","Division of Optimization and Systems Theory, Department of Mathemathics, Royal Institute of Technology (KTH), Stockholm, Sweden SE-100 44"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Optimization and Systems Theory, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Optimization and Systems Theory, Department of Mathemathics, Royal Institute of Technology (KTH), Stockholm, Sweden SE-100 44","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I1291458624","display_name":"Swedish Defence Research Agency","ror":"https://ror.org/0470cgs30","country_code":"SE","type":"funder","lineage":["https://openalex.org/I1291458624"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Petter O\u0308gren","raw_affiliation_strings":["Department of Aeronautical and Systems Technology, Swedish Defence Research Agency (FOI), Stockholm, Sweden, SE-164 94"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Systems Technology, Swedish Defence Research Agency (FOI), Stockholm, Sweden, SE-164 94","institution_ids":["https://openalex.org/I1291458624"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":60.253,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.99531389,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5498","last_page":"5503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13371","display_name":"Military Defense Systems Analysis","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.7824344635009766},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.7598863840103149},{"id":"https://openalex.org/keywords/pursuer","display_name":"Pursuer","score":0.747038722038269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6566853523254395},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6497856974601746},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5939211845397949},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.578005313873291},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.5206683874130249},{"id":"https://openalex.org/keywords/clearance","display_name":"Clearance","score":0.4607151448726654},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42513108253479004},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2347102165222168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1133154034614563}],"concepts":[{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.7824344635009766},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7598863840103149},{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.747038722038269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6566853523254395},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6497856974601746},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5939211845397949},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.578005313873291},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.5206683874130249},{"id":"https://openalex.org/C138944611","wikidata":"https://www.wikidata.org/wiki/Q1163287","display_name":"Clearance","level":2,"score":0.4607151448726654},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42513108253479004},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2347102165222168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1133154034614563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C126894567","wikidata":"https://www.wikidata.org/wiki/Q105650","display_name":"Urology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509438","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/20691","is_oa":false,"landing_page_url":"https://orbilu.uni.lu/handle/10993/20691","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA), 5498\u20135503 (2010); 2010 IEEE International Conference on Robotics and Automation (ICRA), 3-7 May, 2010","raw_type":"peer reviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W211871306","https://openalex.org/W1976698879","https://openalex.org/W2033649214","https://openalex.org/W2053966554","https://openalex.org/W2118525851","https://openalex.org/W2159197431","https://openalex.org/W2161303196"],"related_works":["https://openalex.org/W2057376130","https://openalex.org/W2091926052","https://openalex.org/W4253161990","https://openalex.org/W2039546613","https://openalex.org/W2184611791","https://openalex.org/W2522390654","https://openalex.org/W114019308","https://openalex.org/W1994748888","https://openalex.org/W4391020716","https://openalex.org/W3152565215"],"abstract_inverted_index":{"In":[0],"this":[1,22],"paper,":[2],"we":[3,28,75],"address":[4],"the":[5,10,37,41,78,91,94,99,102,139,145],"multi":[6],"pursuer":[7],"version":[8],"of":[9,43,93,101,120,141,161],"pursuit":[11,86,103],"evasion":[12,87],"problem":[13,23,38],"in":[14,65,84,154],"polygonal":[15],"environments.":[16],"It":[17],"is":[18,24,114,152],"well":[19,97,117],"known":[20,60,118],"that":[21,142],"NP-hard,":[25],"and":[26,39,49,57,109,123,137,156],"therefore":[27],"seek":[29],"efficient,":[30],"but":[31],"not":[32],"optimal,":[33],"solutions":[34],"by":[35,126,158],"relaxing":[36],"applying":[40],"tools":[42],"Mixed":[44],"Integer":[45],"Linear":[46],"Programming":[47],"(MILP)":[48],"Receding":[50],"Horizon":[51],"Control":[52],"(RHC).":[53],"Approaches":[54],"using":[55],"MILP":[56,79],"RHC":[58,113],"are":[59],"to":[61,89,144],"produce":[62],"efficient":[63],"algorithms":[64],"other":[66],"path":[67,129],"planning":[68,130,135],"domains,":[69],"such":[70],"as":[71,96,98],"obstacle":[72],"avoidance.":[73],"Here":[74],"show":[76],"how":[77],"formalism":[80],"can":[81],"be":[82],"used":[83],"a":[85,107,110,116,133,159],"setting":[88],"capture":[90],"motion":[92],"pursuers":[95],"partitioning":[100],"search":[104],"region":[105],"into":[106],"cleared":[108],"contaminated":[111],"part.":[112],"furthermore":[115],"way":[119],"balancing":[121],"performance":[122],"computation":[124],"requirements":[125],"iteratively":[127],"solving":[128],"problems":[131],"over":[132],"receding":[134],"horizon,":[136],"adapt":[138],"length":[140],"horizon":[143],"computational":[146],"resources":[147],"available.":[148],"The":[149],"proposed":[150],"approach":[151],"implemented":[153],"Matlab/Cplex":[155],"illustrated":[157],"number":[160],"solved":[162],"examples.":[163]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
