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An Introduction to Pursuit-evasion Differential Games [article]

Isaac E. Weintraub, Meir Pachter, Eloy Garcia
<span title="2020-03-10">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Next, more recent results are described by employing a classification based on the number of players: one-pursuer-one-evader, N-pursuers-one-evader, one-pursuer-M-evaders, and N-pursuer-M-evader games.  ...  These problems provide two important applications and, more importantly, they give great insight into the realization of cooperation between friendly agents in order to form a team and defeat the adversary  ...  A 3-Dimensional pursuit-evasion differential game consisting of a pursuer engaged against a team consisting of two evaders was proposed in [77] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2003.05013v1">arXiv:2003.05013v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jz2rcb6ld5b4lftrdp4ou3iemu">fatcat:jz2rcb6ld5b4lftrdp4ou3iemu</a> </span>
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Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation

R. Vidal, O. Shakernia, H.J. Kim, D.H. Shim, S. Sastry
<span title="">2002</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/e7nb2ustinavvlg2tmd7bwiy5m" style="color: black;">IEEE Transactions on Robotics and Automation</a> </i> &nbsp;
We consider the problem of having a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) pursue a second team of evaders while concurrently building a map in an unknown environment  ...  intelligence of the evaders and the sensing capabilities of the pursuers.  ...  Table I evaluate the global-max pursuit policy against an evader following either a random or a global-min evasion policy.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tra.2002.804040">doi:10.1109/tra.2002.804040</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4r6pzchs2rcvlp6yucu4erqp2i">fatcat:4r6pzchs2rcvlp6yucu4erqp2i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170811050645/http://robotics.eecs.berkeley.edu/~sastry/pubs/OldSastryALL/VidalShakerniaProbabilistic2002.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/2e/08/2e08075c70cc8b621bd0af0c8508dde509475876.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tra.2002.804040"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Relay Pursuit of an Evader by a Heterogeneous Group of Pursuers Using Potential Games [article]

Yoonjae Lee, Efstathios Bakolas
<span title="2020-09-30">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We propose a decentralized solution for a pursuit-evasion game involving a heterogeneous group of rational (selfish) pursuers and a single evader based on the framework of potential games.  ...  by executing a learning algorithm for games known as Spatial Adaptive Play (SAP).  ...  In a typical multi-player PEGs, there is a group of pursuers playing an adversarial game against another team of agents, which we refer to as the evaders.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2009.14407v1">arXiv:2009.14407v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qisynmluo5apfnfuoy3epc3hee">fatcat:qisynmluo5apfnfuoy3epc3hee</a> </span>
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On the complexity of searching for an evader with a faster pursuer

Florian Shkurti, Gregory Dudek
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2013 IEEE International Conference on Robotics and Automation</a> </i> &nbsp;
In this work we prove that computing the minimum speed which enables a faster pursuer to clear a graph environment is NP-hard.  ...  It has been shown that in sufficiently complex environments a single pursuer having the same speed as the evader cannot clear the environment.  ...  ACKNOWLEDGMENT The authors would like to thank the Natural Sciences and Research Council of Canada (NSERC) as well as the Walter Sumner Foundation for their support.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2013.6631150">doi:10.1109/icra.2013.6631150</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/ShkurtiD13.html">dblp:conf/icra/ShkurtiD13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3xpvrl25mzaqffhh44gsysgo5i">fatcat:3xpvrl25mzaqffhh44gsysgo5i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170324040728/http://www.cim.mcgill.ca/~florian/pdfs/icra2013_pursuit_evasion.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/01/99/01994da97493251cfc679762e21c1c0c54ab27d3.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2013.6631150"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Optimal team tactics

A. W. MERZ
<span title="">1992</span> <i title="American Institute of Aeronautics and Astronautics (AIAA)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yekwqy6srncl5bew6tynp7vjsq" style="color: black;">Journal of Guidance Control and Dynamics</a> </i> &nbsp;
Evader 1 and pursuer 4 of Fig. 2 are taken as a typical one-on-one pairing.  ...  For example, optimal evasion ‘rom one pursuer may mean that an evader moves toward a second pursuer. Such coupled trajectories remain an open question, even before real-space constraints are imposed.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2514/3.20905">doi:10.2514/3.20905</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/elhflmobojchnhjalrodrlsfmy">fatcat:elhflmobojchnhjalrodrlsfmy</a> </span>
<a target="_blank" rel="noopener" href="https://archive.org/details/sim_journal-of-guidance-control-and-dynamics_may-june-1992_15_3/page/777" title="read fulltext microfilm" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Archive [Microfilm] <div class="menu fulltext-thumbnail"> <img src="https://archive.org/serve/sim_journal-of-guidance-control-and-dynamics_may-june-1992_15_3/__ia_thumb.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2514/3.20905"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

The Barrier Surface in the Cooperative Football Differential Game [article]

Eloy Garcia, David W. Casbeer, Meir Pachter
<span title="2020-06-05">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This paper considers the blocking or football pursuit-evasion differential game. Two pursuers cooperate and try to capture the ball carrying evader as far as possible from the goal line.  ...  In this paper the solution of the game of kind is provided: The Barrier surface that partitions the state space into two winning sets, one for the pursuer team and one for the evader, is constructed.  ...  The same approach can be extended to consider more than two pursuers against one evader in a straightforward manner.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2006.03682v1">arXiv:2006.03682v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/52rfyap3zne3pjn45j2imxxkpa">fatcat:52rfyap3zne3pjn45j2imxxkpa</a> </span>
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Pursuit–evasion games in the presence of obstacles

Dave W. Oyler, Pierre T. Kabamba, Anouck R. Girard
<span title="">2016</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/e5pgtxytlra45muqmfmoj6kvte" style="color: black;">Automatica</a> </i> &nbsp;
As part of the discussion, a novel, multiplayer pursuit-evasion game is also presented. It features three players on two teams, and it can be used to model rescue scenarios and biological behaviors.  ...  The obstacles considered include line segments and polygons as well as obstacles that have asymmetric effects on the players.  ...  Reference [14] is most similar to this work in its approach, and it considers multiple slow pursuers against a fast evader.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.automatica.2015.11.018">doi:10.1016/j.automatica.2015.11.018</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/het25kmek5d5til4smvzhvyvyi">fatcat:het25kmek5d5til4smvzhvyvyi</a> </span>
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Toward Simulating Realistic Pursuit-Evasion Using a Roadmap-Based Approach [chapter]

Samuel Rodriguez, Jory Denny, Takis Zourntos, Nancy M. Amato
<span title="">2010</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/2w3awgokqne6te4nvlofavy5a4" style="color: black;">Lecture Notes in Computer Science</a> </i> &nbsp;
We demonstrate the utility of this approach for a variety of scenarios including pursuit-evasion on terrains, in multi-level buildings, and in crowds.  ...  In this work, we describe an approach for modeling and simulating group behaviors for pursuit-evasion that uses a graph-based representation of the environment and integrates multi-agent simulation with  ...  As a result, the study of the pursuit/evasion game has been fractured.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-642-16958-8_9">doi:10.1007/978-3-642-16958-8_9</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/2i63jvj4pzg2bood4lkzhvbghm">fatcat:2i63jvj4pzg2bood4lkzhvbghm</a> </span>
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The pursuit-evasion-defense differential game in dynamic constrained environments

Jaime F. Fisac, S. Shankar Sastry
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wjd7b2sxyfahnaei4xvi46vwsu" style="color: black;">2015 54th IEEE Conference on Decision and Control (CDC)</a> </i> &nbsp;
This paper studies a three-player differential pursuit-evasion game in which a pursuer aims to capture a fleeing evader while a third player, the defender, cooperates with the latter by attempting to intercept  ...  or delay the pursuer to avoid capture.  ...  Akametalu for stimulating discussions and helpful remarks, as well as for sharing their insights into the numerical tools.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2015.7402930">doi:10.1109/cdc.2015.7402930</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/cdc/FisacS15.html">dblp:conf/cdc/FisacS15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yd2pmoyrererjmhm5g2psj6mxe">fatcat:yd2pmoyrererjmhm5g2psj6mxe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200322223716/https://people.eecs.berkeley.edu/~sastry/pubs/Pdfs%20of%202015/FisacPursuit2015.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8d/fc/8dfc5d21b37496ddef7fc59c40918e3ad4646f52.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2015.7402930"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Decentralized Multi-Agent Pursuit using Deep Reinforcement Learning [article]

Cristino de Souza Jr, Rhys Newbury, Akansel Cosgun, Pedro Castillo, Boris Vidolov, Dana Kulic
<span title="2020-10-16">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers.  ...  We use shared experience to train a policy for a given number of pursuers that is executed independently by each agent at run-time.  ...  THE PURSUIT-EVASION SCENARIO We define the problem as a pursuit evasion scenario consisting of multiple homogeneous, slower pursuers chasing a single, faster target.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2010.08193v1">arXiv:2010.08193v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/pe3xyh7hsnbyvprrj3nlubufmm">fatcat:pe3xyh7hsnbyvprrj3nlubufmm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201023120925/https://arxiv.org/pdf/2010.08193v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ad/5d/ad5da947a461f098dc2cbaa87cf57c148401de18.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2010.08193v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

A sampling-based algorithm for multi-robot visibility-based pursuit-evasion

Nicholas M. Stiffler, Jason M. O'Kane
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2014 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with multiple pursuers.  ...  We create a Sample-Generated Pursuit-Evasion Graph (SG-PEG) that utilizes an abstract sample generator to search the pursuers' joint configuration space for a pursuer solution strategy that captures the  ...  In game theory, the homicidal chauffeur is a pursuit-evasion problem which pits a slowly moving but highly maneuverable runner against the driver of a vehicle, which is faster but less maneuverable, who  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2014.6942796">doi:10.1109/iros.2014.6942796</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/StifflerO14.html">dblp:conf/iros/StifflerO14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/27iw7uesnnhsnmtf5k3sirlhwy">fatcat:27iw7uesnnhsnmtf5k3sirlhwy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170830074524/https://cse.sc.edu/~jokane/papers/StiOKa14b.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/a4/ec/a4ec4a7acc4381e16ce388c80d598d030de875ab.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2014.6942796"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

An Efficient Algorithm for Multiple-Pursuer-Multiple-Evader Pursuit/Evasion Game [article]

Joshua R. Bertram, Peng Wei
<span title="2019-09-09">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We demonstrate the algorithm in a team pursuit/evasion setting in a 3D environment using a pseudo-6DOF model and study performance by varying sizes of team members.  ...  We present a method for pursuit/evasion that is highly efficient and and scales to large teams of aircraft.  ...  INTRODUCTION Pursuit/evasion games pit two opponents against each other such that the pursuer must capture the evader.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1909.04171v1">arXiv:1909.04171v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qv7iazoknnfc3ltytdkscqobfm">fatcat:qv7iazoknnfc3ltytdkscqobfm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200827075653/https://arxiv.org/pdf/1909.04171v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/4f/85/4f85e6360966450c0bb6e776c9301f332d1ecbd8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1909.04171v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Search and pursuit-evasion in mobile robotics

Timothy H. Chung, Geoffrey A. Hollinger, Volkan Isler
<span title="2011-07-20">2011</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/jmjdfeig5rayzgfuauvumileza" style="color: black;">Autonomous Robots</a> </i> &nbsp;
We then list a number of fundamental results in the areas of pursuit-evasion and probabilistic search, and we discuss field implementations on mobile robotic systems.  ...  We provide a taxonomy of search problems that highlights the differences resulting from varying assumptions on the searchers, targets, and the environment.  ...  One approach, in line with the worst-case spirit of pursuit-evasion games, is to make the evader very powerful and to treat it as a adversarial target which can be arbitrarily faster than the pursuers.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10514-011-9241-4">doi:10.1007/s10514-011-9241-4</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/i7re3nuyg5fxxfcysmh6imvo7q">fatcat:i7re3nuyg5fxxfcysmh6imvo7q</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20120904015220/http://www-users.cs.umn.edu/~isler/pub/pe-survey.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d9/12/d912e3aff5ac1baaf1d56fdace81c97c4cbeb405.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10514-011-9241-4"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Multi-Agent Curricula and Emergent Implicit Signaling [article]

Niko A. Grupen, Daniel D. Lee, Bart Selman
<span title="2022-02-06">2022</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
successful single-agent behaviors as a precursor to learning multi-agent behaviors.  ...  We propose a curriculum-driven strategy that combines: (i) velocity-based environment shaping, tailored to the skill level of the multi-agent team; and (ii) a behavioral curriculum that helps agents learn  ...  In practice, we initialize the environment such that ì 𝑣 0 > 1.0 (i.e. pursuers are faster than the evader), then anneal this ratio slowly as training progresses.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2106.11156v3">arXiv:2106.11156v3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/66zc76uz2vb5dhvbvorqz4wjjq">fatcat:66zc76uz2vb5dhvbvorqz4wjjq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220209125224/https://arxiv.org/pdf/2106.11156v3.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d4/94/d494df092c78da73b0f83b19cce9201458b07f9f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2106.11156v3" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

A complete algorithm for visibility-based pursuit-evasion with multiple pursuers

Nicholas M. Stiffler, Jason M. O'Kane
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2014 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
The input for our algorithm is an environment represented as a doubly-connected edge list and the initial positions of the pursuers.  ...  We introduce a centralized algorithm for a visibility-based pursuit-evasion problem in a two-dimensional environment for the case of multiple pursuers.  ...  In game theory, the homicidal chauffeur is a pursuit evasion problem which pits a slowly moving but highly maneuverable runner against the driver of a vehicle, which is faster but less maneuverable, who  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907074">doi:10.1109/icra.2014.6907074</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/StifflerO14.html">dblp:conf/icra/StifflerO14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/puiss4rcgjgf3oeiqbrzmvujni">fatcat:puiss4rcgjgf3oeiqbrzmvujni</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200709195845/https://www.cse.sc.edu/~stifflen/publications/papers/StiOKa14a.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/08/b5/08b5eb2a54a2b13b748677fc0c8d6c48ff6745c2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2014.6907074"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>
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