Visibility-based pursuit-evasion: The case of curved environments

Steven M. LaValle, John E. Hinrichsen

Research output: Contribution to journalArticlepeer-review


We consider the problem of visually searching for an unpredictable target that can move arbitrarily fast in a simply-connected two-dimensional curved environment. A complete algorithm is presented and is based on critical visibility events that occur because of inflections and bitangents on the environment boundary. By generalizing the notion of inflections and bitangents to polygonal and piecewise-smooth environments, the approach is considered as a step toward developing pursuit-evasion strategies that have little dependency on the representation of the environment.

Original languageEnglish (US)
Pages (from-to)196-202
Number of pages7
JournalIEEE Transactions on Robotics and Automation
Issue number2
StatePublished - Apr 2001
Externally publishedYes


  • Active sensing
  • Computational geometry
  • Mobile robotics
  • Motion planning
  • Visibility

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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