# 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

Finding an unpredictable target in a workspace with obstacles

- Computer ScienceProceedings of International Conference on Robotics and Automation
- 1997

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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).

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Visibility-based Pursuit-evasion with Limited Field of View

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- 2006

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.

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- Computer Science2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
- 2004

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.

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- Computer Science2009 24th International Symposium on Computer and Information Sciences
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The multi-angle pursuit problem for multiple robots is defined and a pareto optimal solution for task allocation is presented and presented.

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- Computer ScienceWAFR
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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.

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- Computer ScienceAuton. Robots
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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

- Computer Science2014 IEEE International Conference on Robotics and Automation (ICRA)
- 2014

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

- Computer Science2017 IEEE International Conference on Robotics and Automation (ICRA)
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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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