Visibility-Based Pursuit-Evasion in a Polygonal Environment

  title={Visibility-Based Pursuit-Evasion in a Polygonal Environment},
  author={L. Guibas and J. Latombe and S. LaValle and D. Lin and R. Motwani},
  • L. Guibas, J. Latombe, +2 authors R. Motwani
  • Published in WADS 1997
  • Computer Science, Mathematics
  • 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… CONTINUE READING
    217 Citations
    Visibility-Based Pursuit-Evasion in an Unknown Planar Environment
    • 121
    • PDF
    Surveillance Strategies for a Pursuer with Finite Sensor Range
    • 59
    • PDF
    Complete and optimal visibility-based pursuit-evasion
    • 7
    • Highly Influenced
    • PDF
    Pursuit-evasion in an unknown environment using gap navigation trees
    • Luis Guilamo, B. Tovar, S. LaValle
    • Computer Science
    • 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
    • 2004
    • 41
    • PDF
    A complete algorithm for visibility-based pursuit-evasion with multiple pursuers
    • 22
    • Highly Influenced
    • PDF
    Evasion with Bounded Speed − − Visibility-based Pursuit
    • 6
    • PDF
    A Complexity result for the pursuit-evasion game of maintaining visibility of a moving evader
    • 35
    • PDF
    A sampling-based algorithm for multi-robot visibility-based pursuit-evasion
    • 9
    • Highly Influenced
    • PDF


    Finding an unpredictable target in a workspace with obstacles
    • 190
    Searching for a Mobile Intruder in a Polygonal Region
    • 310
    Searching for a mobile intruder in a corridor: the open edge variant of the polygon search problem
    • 78
    • PDF
    Mobile robot self-location using model-image feature correspondence
    • 105
    • PDF
    The Robot Localization Problem
    • 130
    • PDF
    A game-theoretic framework for robot motion planning
    • 60
    Optimum watchman routes
    • 111
    A theorem on polygon cutting with applications
    • B. Chazelle
    • Mathematics, Computer Science
    • 23rd Annual Symposium on Foundations of Computer Science (sfcs 1982)
    • 1982
    • 290
    Primitives for the manipulation of general subdivisions and the computation of Voronoi
    • 1,178