The Pursuer-Evader Game

Research Publications Misc
Overview In pursuer-evader game (PEG), a vehicle (the evader) is driven through a sensor field that is tracking its location and routing its location to another device (the pursuer) that tries to capture it autonomously. We deployed multiple versions of PEG where the pursuer was a pan/tilt camera, an autonomous robot, or simply a display on a screen. The evader varied from humans to RC cars to pioneer robots. The most recent iteration used passive infrared (PIR) sensors to track any moving objects in an area covering 50,000 square meters with over 550 solar-powered sensor nodes (Aug, 2005). Previous iterations used acoustic sensors to track remote-controlled vehicles with a camera (Jan, 2002) or magnetometers to help one autonomous, mobile robot to catch another (Aug, 2003).

Prabal Dutta, Jonathan Hui, Jaein Jeong, Sukun Kim, Cory Sharp, Jay Taneja, Gilman Tolle, Kamin Whitehouse, and David Culler. "Trio: Enabling Sustainable and Scalable Outdoor Wireless Sensor Network Deployments".  The Fifth International Conference on Information Processing in Sensor Networks: Special Track on Sensor Platform, Tools, and Design Methods for Network Embedded Systems (IPSN/SPOTS '06).  Nashville, TN, April 21, 2006.

Kamin Whitehouse, Cory Sharp, Eric Brewer, David Culler.  "Hood: a Neighborhood Abstraction for Sensor Networks."  In Proceedings of ACM International Conference on Mobile Systems, Applications, and Services (MobiSys '04).  Boston, MA, June, 2004.  ACM Press. (ppt)

"Experiments in Instrumenting Wireless Sensor Networks for Real-time Surveillance" Phoebus Chen, Songhwai Oh, Michael Manzo, Bruno Sinopoli, Cory Sharp, Kamin Whitehouse, Gilman Tolle, Jaein Jeong, Prabal Dutta, Jonathan Hui, Shawn Shaffert, Sukun Kim, Jay Taneja, Bonnie Zhu, Tanya Roosta, Mike Howard, David Culler, Shankar Sastry. IEEE International Conference on Robotics and Automation (ICRA '06), May 15-19, 2006, Orlando, FL.

"Maintaining High-bandwidth Communication Between Mobile Groups of Nodes", Kamin Whitehouse, Ying Zhang, Markus Fromherz. NEST Retreat, Poster. January 2004. ppt

Software The code for the pursuer-evader implementations are available in the tinyos contrib distribution, under minitasks/03/ucb and under nestfe/

Kamin Whitehouse
Computer Science Department
The University of Virginia
217 Olsson Hall
Charlottesville, Virginia 94720