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Offline variants of the "lion and man" problem

2008
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Theoretical Computer Science
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Consider the following safe path planning problem: Given a set of trajectories (paths) of k point robots with maximum unit speed in a bounded region over a (long) time interval [0, T ], find another trajectory (if it exists) subject to the same maximum unit speed limit, that avoids (that is, stays at a safe distance of) each of the other k trajectories over the entire time interval. We call this variant the continuous model of the safe path planning problem. The discrete model of this problem

doi:10.1016/j.tcs.2008.02.039
fatcat:yb47lyztozftnly3gpwjdh3m7y