TY - GEN
T1 - Visibility-based pursuit-evasion with bounded speed
AU - Tovar, Benjamín
AU - LaValle, Steven M.
PY - 2008
Y1 - 2008
N2 - This paper presents an algorithm for a visibility-based pursuit-evasion problem in which bounds on the speeds of the pursuer and evader are given. The pursuer tries to find the evader inside of a simply-connected polygonal environment, and the evader in turn tries actively to avoid detection. The algorithm is at least as powerful as the complete algorithm for the unbounded speed case, and with the knowledge of speed bounds, generates solutions for environments that were previously unsolvable. Furthermore, the paper develops a characterization of the set of possible evader positions as a function of time. This characterization is more complex than in the unbound-speed case, because it no longer depends only on the combinatorial changes in the visibility region of the pursuer.
AB - This paper presents an algorithm for a visibility-based pursuit-evasion problem in which bounds on the speeds of the pursuer and evader are given. The pursuer tries to find the evader inside of a simply-connected polygonal environment, and the evader in turn tries actively to avoid detection. The algorithm is at least as powerful as the complete algorithm for the unbounded speed case, and with the knowledge of speed bounds, generates solutions for environments that were previously unsolvable. Furthermore, the paper develops a characterization of the set of possible evader positions as a function of time. This characterization is more complex than in the unbound-speed case, because it no longer depends only on the combinatorial changes in the visibility region of the pursuer.
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U2 - 10.1007/978-3-540-68405-3_30
DO - 10.1007/978-3-540-68405-3_30
M3 - Conference contribution
AN - SCOPUS:53849128196
SN - 9783540684046
T3 - Springer Tracts in Advanced Robotics
SP - 475
EP - 489
BT - Algorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics
T2 - 7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006
Y2 - 16 July 2006 through 18 July 2006
ER -