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On Localization and Communication Issues in Pursuit-Evasion Games

A probabilistic pursuit–evasion game from the literature is used as an example of a multi-robot system. The model is extended with particular focus on localization errors and communication limitations. These constraints are important in real multi-robot systems, but has often been neglected in previous studies. It is shown in the paper how multi-robot systems outperform single robots, also in the case of imperfect localization and bandwidth limitations in the communication channel. Simulation results give trade-offs between communication constraints, number of pursuers, and control performance.