Tracking an omnidirectional evader with a differential drive robot

Rafael Murrieta-Cid, Ubaldo Ruiz, Jose Luis Marroquin, Jean Paul Laumond, Seth Hutchinson

Research output: Contribution to journalArticlepeer-review


In this paper we consider the surveillance problem of tracking a moving evader by a nonholonomic mobile pursuer. We deal specifically with the situation in which the only constraint on the evader's velocity is a bound on speed (i.e., the evader is able to move omnidirectionally), and the pursuer is a nonholonomic, differential drive system having bounded speed. We formulate our problem as a game. Given the evader's maximum speed, we determine a lower bound for the required pursuer speed to track the evader. This bound allows us to determine at the beginning of the game whether or not the pursuer can follow the evader based on the initial system configuration. We then develop the system model, and obtain optimal motion strategies for both players, which allow us to establish the long term solution for the game. We present an implementation of the system model, and motionstrategies, and also present simulation results of the pursuitevasion game.

Original languageEnglish (US)
Pages (from-to)345-366
Number of pages22
JournalAutonomous Robots
Issue number4
StatePublished - Nov 2011


  • Nonholonomic constraints
  • Pursuit-evasion
  • Tracking

ASJC Scopus subject areas

  • Artificial Intelligence


Dive into the research topics of 'Tracking an omnidirectional evader with a differential drive robot'. Together they form a unique fingerprint.

Cite this