Visibility-based pursuit-evasion with bounded speed

Benjamín Tovar, Steven M. LaValle

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


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.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics
Number of pages15
StatePublished - 2008
Event7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006 - New York, NY, United States
Duration: Jul 16 2006Jul 18 2006

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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