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In this paper we consider the surveillance problem of tracking a moving evader by a nonholo-nomic 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 non-holonomic, differential drive system having bounded… (More)

—In this paper, we consider the problem of capturing an omnidirectional evader using a Differential Drive Robot (DDR) in an obstacle-free environment. At the beginning of this game the evader is at a distance L > l (the capture distance) from the pursuer. The goal of the evader is to keep the pursuer farther than this capture distance as long as possible.… (More)

— In this paper, we consider the problem of capturing an omnidirectional evader using a Differential Drive Robot in an obstacle free environment. At the beginning of the game the evader is at a distance L > l from the pursuer. The pursuer goal is to get closer from the evader than the capture distance l. The goal of the evader is to keep the pursuer at all… (More)

— We study the problem of capturing an Omnidi-rectional Evader in convex environments using a Differential Drive Robot (DDR). The DDR wins the game if at any time instant it captures (collides with) the evader. The evader wins if it can avoid capture forever. Both players are unit disks with the same maximum (bounded) speed, but the DDR can only change its… (More)

In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change… (More)

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