MILFORD, Conn. -- Police say a man accused of robbing a Milford gas station struck a cruiser before fleeing into a swamp on Thursday.

Police said Peter Barone, 35, of East Haven, robbed a gas station on Old Gate Lane at knifepoint on Thursday morning.

Barone fled the gas station with an undetermined amount of money, police said.

A witness followed Barone's vehicle and contacted the police department, according to officials.

Police said officers located the vehicle on a dead-end street, engaged in a pursuit, and that Barone slammed into a cruiser on Interstate 95.

Police said Barone then fled from the vehicle and into a swamp.

A hotel clerk called police a short time later and said that a man in wet clothing was in the hotel's lobby and was asking for a taxi.

Barone was taken into police custody without incident, police said.

He was charged with robbery, criminal attempt to commit assault on a police officer, larceny, interfering with a police officer, reckless driving, engaging in a police pursuit and weapons charges.

He remains held on a $100,000 bond.

Police said Barone was involved in a similar incident last year in West Haven and that he may be connected to gas station robbery last week in Milford.