Visibility-Based Pursuit-Evasion in a Polygonal Environment

@inproceedings{Guibas1997VisibilityBasedPI,
  title={Visibility-Based Pursuit-Evasion in a Polygonal Environment},
  author={Leonidas J. Guibas and Jean-Claude Latombe and Steven M. LaValle and David C. Lin and Rajeev Motwani},
  booktitle={WADS},
  year={1997}
}
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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