Related papers: Escaping a Polygon
We study pursuit-evasion in a polygonal environment with polygonal obstacles. In this turn based game, an evader $e$ is chased by pursuers $p_1, p_2, ..., p_{\ell}$. The players have full information about the environment and the location…
This paper studies a 3D multiplayer reach-avoid differential game with a goal region and a play region. Multiple pursuers defend the goal region by consecutively capturing multiple evaders in the play region. The players have heterogeneous…
We study pursuit-evasion differential games between a faster pursuer moving in 3D space and an evader moving in a plane. We first extend the well-known Apollonius circle to 3D space, by which we construct the isochron for the considered two…
This paper studies a multiplayer reach-avoid differential game in the presence of general polygonal obstacles that block the players' motions. The pursuers cooperate to protect a convex region from the evaders who try to reach the region.…
Suppose an unpredictable evader is free to move around in a polygonal environment of arbitrary complexity that is under full camera surveillance. How many pursuers, each with the same maximum speed as the evader, are necessary and…
In a pursuit-evasion game, a team of pursuers attempt to capture an evader. The players alternate turns, move with equal speed, and have full information about the state of the game. We consider the most restictive capture condition: a…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
We study a turn-based game in a simply connected polygonal environment $Q$ between a pursuer $P$ and an adversarial evader $E$. Both players can move in a straight line to any point within unit distance during their turn. The pursuer $P$…
This paper is concerned with continuous-time pursuit and evasion games. Typically, we have a lion and a man in a metric space: they have the same speed, and the lion wishes to catch the man while the man tries to evade capture. We are…
The pursuit-evasion game with two persons is considered. Both players are moving in a metric space, have equal maximum speeds and complete information about the location of each other. We study the sufficient conditions for a capture (with…
A Differential Drive Robot (DDR) located inside a circular detection region in the plane wants to escape from it in minimum time. Various robotics applications can be modeled like the previous problem, such as a DDR escaping as soon as…
Pursuit-evasion scenarios appear widely in robotics, security domains, and many other real-world situations. We focus on two-player pursuit-evasion games with concurrent moves, infinite horizon, and discounted rewards. We assume that the…
We study versions of cop and robber pursuit-evasion games on the visibility graphs of polygons, and inside polygons with straight and curved sides. Each player has full information about the other player's location, players take turns, and…
This paper investigates obstacle-free simple motion pursuit-evasion problems where the pursuer is faster and game termination is point capture. It is well known that the interior of the Apollonius Circle (AC) is the evader's dominance…
This paper considers a reach-avoid differential game in three-dimensional space with four equal-speed players. A plane divides the game space into a play subspace and a goal subspace. The evader aims at entering the goal subspace while…
This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its…
We study a pursuit-evasion differential game with finite number of pursuers and one evader in Hilbert space with geometric constraints on the control functions of players. We solve the game by presenting explicit strategies for pursuers…
We consider a two player game, where a first player has to install a surveillance system within an admissible region. The second player needs to enter the the monitored area, visit a target region, and then leave the area, while minimizing…
We study a pursuit-evasion game between a double integrator-driven pursuer with bounded velocity and bounded acceleration and a single integrator-driven evader with bounded velocity in a two-dimensional plane. The pursuer's goal is to…
A new surveillance-evasion differential game is posed and solved in which an agile pursuer (the prying pedestrian) seeks to remain within a given surveillance range of a less agile evader that aims to escape. In contrast to previous…