A visibility-based pursuit-evasion game between two nonholonomic robots in environments with obstacles

• Published in: Autonomous robots Vol. 46; no. 2; pp. 349 - 371
• Main Authors: Lozano, Eliezer, Becerra, Israel, Ruiz, Ubaldo, Bravo, Luis, Murrieta-Cid, Rafael
• Format: Journal Article
• Language: English
• Published: New York Springer US 01.02.2022; Springer Nature B.V
• Subjects: Artificial Intelligence; Barriers; Computer Imaging; Control; Differential games; Engineering; Game theory; Mechatronics; Pattern Recognition and Graphics; Players; Pursuit-evasion games; Robotics; Robotics and Automation; Robots; Surveillance; Visibility; Vision; Motion planning; Nonholonomic constraints; Algorithms; Pursuit-evasion; Incomplete information

In this paper, a visibility-based pursuit-evasion game in an environment with obstacles is addressed. A pursuer wants to maintain the visibility of an evader at all times. Both players are nonholonomic robots shaped like discs. To determine the players’ motion policies and their trajectories–subject...