A complete pursuit-evasion algorithm for two pursuers using beam detection

Borislav H. Simov, Steven M. LaValle, Giora Slutzki

Research output: Contribution to journalArticlepeer-review


We present an algorithm for a pair of pursuers, each with one rotating beam (flashlight, laser or a camera), searching for an unpredictable, moving target in a 2D environment (simple polygon). Given a polygon with n edges, the algorithm decides in time O(n4 whether it can be cleared by the pursuers, and if so, constructs a search schedule. The pursuers are allowed to move on the boundary and in the interior of the polygon. They are not required to maintain mutual visibility throughout the pursuit.

Original languageEnglish (US)
Pages (from-to)618-623
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - May 2002

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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