A Visibility-Based Pursuit-Evasion Problem

@article{Guibas1999AVP,
  title={A Visibility-Based Pursuit-Evasion Problem},
  author={Leonidas J. Guibas and Jean-Claude Latombe and Steven M. LaValle and David C. Lin and Rajeev Motwani},
  journal={Int. J. Comput. Geom. Appl.},
  year={1999},
  volume={9},
  pages={471-494}
}
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually "see" an evader that is unpredictable, has unknown initial position, and is capable of moving arbitrarily fast. This problem was first introduced by Suzuki and Yamashita. Our study of this problem is motivated in part by robotics applications, such as surveillance with a mobile robot equipped with a camera that must find a moving target in a cluttered workspace. A few bounds… 
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255 Citations
Highly Influential Citations
16
Background Citations
110
Methods Citations
25
Results Citations
3

255 Citations

Finding an unpredictable target in a workspace with obstacles
This paper introduces a visibility-based motion planning problem in which the task is to coordinate the motions of one or more robots that have omnidirectional vision sensors, to eventually "see" a…
Visibility-Based Pursuit-Evasion in an Unknown Planar Environment
TLDR
A complete algorithm is presented that enables the limited pursuer to clear the same environments that a pursuer with a complete map, perfect localization, and perfect control can clear (under certain general position assumptions).
A Complete Algorithm for Searchlight Scheduling
TLDR
An algorithm for a group of guards statically positioned in a nonconvex polygonal environment with holes that takes an approach known as exact cell decomposition in the motion planning literature to compute a schedule to rotate a set of searchlights in such a way that any target in an environment will necessarily be detected in finite time.
Visibility-based Pursuit-evasion with Limited Field of View
TLDR
A new class of searcher, the φ-searcher, is introduced, which can be readily instantiated as a physical mobile robot and is presented as the first complete search algorithm for a single φ -searchers, and how this algorithm can be extended to handle multiple searchers.
Pursuit-evasion in an unknown environment using gap navigation trees
TLDR
It is proved that a pursuer with k + 1 sentries can clear any environment that could be cleared by k pursuers using the algorithm in L.J. Guibas et al. (1999), which required a complete map and perfect sensing.
Multi-robot pursuit with visibility constraints
TLDR
The multi-angle pursuit problem for multiple robots is defined and a pareto optimal solution for task allocation is presented and presented.
Locating and Capturing an Evader in a Polygonal Environment
TLDR
This paper revisit the well-known visibility based pursuit-evasion problem and shows that, in contrast to deterministic strategies, a single pursuer can locate an unpredictable evader in any simply-connected polygonal environment using a randomized strategy.
Maintaining strong mutual visibility of an evader moving over the reduced visibility graph
TLDR
This paper provides a constructive method to solve the decision problem of determining whether or not the pursuer is able to maintain strong mutual visibility of the evader, and proves decidability of this problem, and provides a complexity measure to this evader surveillance game.
A complete algorithm for visibility-based pursuit-evasion with multiple pursuers
TLDR
This work introduces a centralized algorithm for a visibility-based pursuit-evasion problem in a two-dimensional environment for the case of multiple pursuers and constructs a Pursuit Evasion Graph induced by the adjacency graph.
Persistent pursuit-evasion: The case of the preoccupied pursuer
TLDR
A model based on the idea of pessimal unoccluded distance to reason about the degree of plausibility that the evader may be concealed within each occluded region is introduced and a decomposition of the environment is described that fully characterizes the opportune moment for an evader to take advantage of sensor error.
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