Surveillance for security as a pursuit-evasion game

Sourabh Bhattacharya, Tamer Başar, Maurizio Falcone

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


This work addresses a visibility-based target tracking problem that arises in autonomous surveillance for covert security applications. Consider a mobile observer, equipped with a camera, tracking a target in an environment containing obstacles. The interaction between the target and the observer is assumed to be adversarial in order to obtain control strategies for the observer that guarantee some tracking performance. Due to the presence of obstacles, this problem is formulated as a game with state constraints. Based on our previous work in [6] which shows the existence of a value function, we present an off-line solution to the problem of computing the value function using a Fast Marching Semi- Lagrangian numerical scheme, originally presented in [15]. Then we obtain the optimal trajectories for both players, and compare the performance of the current scheme with the Fully Discrete Semi-Lagrangian Scheme presented in [6] based on simulation results.

Original languageEnglish (US)
Title of host publicationDecision and GameTheory for Security - 5th International Conference, GameSec 2014, Proceedings
EditorsRadha Poovendran, Walid Saad
Number of pages10
ISBN (Electronic)9783319126005
StatePublished - 2014
Event5th International Conference on Decision and GameTheory for Security, GameSec 2014 - Los Angeles, United States
Duration: Nov 6 2014Nov 7 2014

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other5th International Conference on Decision and GameTheory for Security, GameSec 2014
Country/TerritoryUnited States
CityLos Angeles


  • Fast marching
  • Pursuit-evasion games
  • Semi-Lagrangian schemes

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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