Visibility-Based Pursuit-Evasion with Bounded Speed

Benjamín Tovar and Steven M . LaValle Evasion with Bounded Speed − −

In this paper we present a study on the visibility-based pursuit– evasion problem in which bounds on the speeds of the pursuer and evader are given. In this setting, the pursuer tries to find the evader inside a simply connected polygonal environment, and the evader in turn tries to avoid detection. The focus of the paper is to develop a characterization of the set of possible evader positions ...

Visibility-Based Pursuit-Evasion in Three-Dimensional Environments

The problem of visibility-based pursuit-evasion was first introduced in 1992 by Suzuki and Yamashita [19]. Since then, it has attracted considerable attention in the communities of robot motion planning and computational geometry. Researchers have considered many variations of the problem, including curved environments[11]; pursuers equipped with one or two “flashlights”, or rays of visibility[...

On the Existence of Nash Equilibrium for a Two Player Pursuit-Evasion Game with Visibility Constraints

In this paper, we present a game theoretic analysis of a visibility based pursuitevasion game in a planar environment containing obstacles. The pursuer and the evader are holonomic having bounded speeds. Both the players have a complete map of the environment. Both the players have omnidirectional vision and have knowledge about each other’s current position as long as they are visible to each ...

Visibility-Based Pursuit-Evasion: The Case of Curved Environments

Visibility-Based Pursuit-Evasion in a Polygonal Region by a Searcher

We consider the most basic visibility-based pursuit-evasion problem defined as follows: Given a polygonal region, a searcher with 360 vision, and an unpredictable intruder that is arbitrarily faster than the searcher, plan the motion of the searcher so as to see the intruder. In this paper, we present simple necessary and sufficient conditions for a polygon to be searchable, which settles a dec...