Ubaldo Ruiz
International Journal of Control, Automation, and Systems, vol. 21, no. 1, pp.292-305, 2023

Abstract : This paper addresses the pursuit-evasion problem in which an omnidirectional agent (OA) wants to escape from the field of view of a differential drive robot (DDR). The sensor is modeled as a semi-infinite cone fixed to the DDR¡¯s center and aligned to the DDR¡¯s heading. The goal of the DDR is to maintain surveillance of the OA as long as possible. The OA has an opposite objective, and it wants to escape from the DDR¡¯s sensor as soon as possible. The game takes place in a plane without obstacles. We determine the winner of the game and find the time-optimal motion strategies of the players to achieve their goals.

Keyword : Differential games, optimal control, pursuit-evasion, visibility constraints.