On Discrete-Time Pursuit-Evasion Games With Sensing Limitations

We address discrete-time pursuit-evasion games in the plane where every player has identical sensing and motion ranges restricted to closed discs of given sensing and stepping radii. A single evader is initially located inside a bounded subset of the environment and does not move until detected. We propose a Sweep-Pursuit-Capture pursuer strategy to capture the evader and apply it to two variants of the game: the first involves a single pursuer and an evader in a bounded convex environment and the second involves multiple pursuers and an evader in a boundaryless environment. In the first game, we give a sufficient condition on the ratio of sensing to stepping radius of the players that guarantees capture. In the second, we determine the minimum probability of capture, which is a function of a novel pursuer formation and independent of the initial evader location. The Sweep and Pursuit phases reduce both games to previously-studied problems with unlimited range sensing, and capture is ...

• Type: Journal
• Year: 2008
• Where: TROB
• Authors: Shaunak Dattaprasad Bopardikar, Francesco Bullo, João Pedro Hespanha
• Keywords: Discrete-time Pursuit-evasion Games, Sensing, Single Evader, TROB 2008