Motion strategies for surveillance

Sourabh Bhattacharya, Salvatore Candido, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We address the problem of surveillance in an environment with obstacles. We show that the problem of tracking an evader with one pursuer around one corner is completely decidable. The pursuer and the evader have complete information about each other's instantaneous position. The pursuer has complete information about the instantaneous velocity of the evader. We present a partition of the visibility region of the pursuer where based on the region in which the evader lies, we provide strategies for the evader to escape the visibility region of the pursuer or for the pursuer to track the target for all future time. We also present the solution to the inverse problem: given the position of the evader, the positions of the pursuer for which the evader can escape the visibility region of the target. These results have been provided for varying speeds of the pursuer and the evader. Based on the results of the inverse problem we provide an O(n3 log n) algorithm that can decide if the evader can escape from the visibility region of a pursuer for some initial pursuer and evader positions. Finally, we extend the result of the target tracking problem around a corner in two dimensions to an edge in three dimensions.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems III
EditorsWolfram Burgard, Oliver Brock, Cyrill Stachniss
PublisherMIT Press Journals
Number of pages8
ISBN (Print)9780262524841
StatePublished - 2008
Externally publishedYes
Event3rd International Conference on Robotics Science and Systems, RSS 2007 - Atlanta, United States
Duration: Jun 27 2007Jun 30 2007

Publication series

NameRobotics: Science and Systems
ISSN (Electronic)2330-765X


Other3rd International Conference on Robotics Science and Systems, RSS 2007
Country/TerritoryUnited States

ASJC Scopus subject areas

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


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