### Cooperative multi-quadrotor pursuit of an evader in an environment with no-fly zones

@inproceedings{pierson_cooperative_2016,
title = {Cooperative multi-quadrotor pursuit of an evader in an environment with no-fly zones},
isbn = {978-1-4673-8026-3},
url = {http://ieeexplore.ieee.org/document/7487151/},
abstract = {We investigate the cooperative pursuit of an evader by a group of quadrotors in an environment with noﬂy zones. While the pursuers cannot enter into no-ﬂy zones, the evader may freely move through zones to avoid capture. Once the evader enters a no-ﬂy zone, the pursuers calculate a reachable set of evader positions. Using tools from Voronoibased coverage control applied to the evader’s reachable set, we provide an algorithm that distributes the pursuers around the zone’s boundary and minimizes the capture time once the evader leaves the no-ﬂy zone. Robust model predictive control (RMPC) tools are used to control the quadrotors and to ensure that they always remain in free space. We demonstrate the performance of our proposed algorithms through a series of experiments on KMEL Nano+ quadrotors.},
language = {en},
urldate = {2020-09-15},
booktitle = {2016 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
publisher = {IEEE},
author = {Pierson, Alyssa and Ataei, Armin and Paschalidis, Ioannis Ch. and Schwager, Mac},
month = may,
year = {2016},
keywords = {pursuit\_evasion},
pages = {320--326},
month_numeric = {5}
}