/PACMAN-multi-agent-pursuit-in-an-unknown-enviroment

multi-agent moving target pursuit in an unknown 4-connected grid world with persistent coverage planning

Primary LanguageC++

Authors

This work was made possible by Stanley Winata and Dung-Han Lee.

Multi-Agent Pursuit in Unknown Environment

This repository contains code for multi-agent persistent coverage and target pursuit algorithms
on a 4-connected grid map. The predactor has limited perception range and has no informa-
tion about the world except its dimension, thus they perform persistent coverage planning
and coordinated target pursuit once the prey is within their sight.

Output sample

Dependency

Install Opencv4

Build

mkdir build && cd ./build && cmake .. && make -j8

Run with manual control

./build/bin/MEP

Run with auto control

./build/bin/MEP auto

Limitations

The assignment of blocking position to ghosts is currently done by trying out all permutation
this part should be replaced with more efficient algorithm e.g. hungarian algorithm