Dung-Han-Lee / PACMAN-multi-agent-pursuit-in-an-unknown-enviroment

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

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.

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