Evader surveillance under incomplete information

— This paper is concerned with determining whether a mobile robot, called the pursuer, is up to maintaining visibility of an antagonist agent, called the evader. This problem, a variant of pursuit-evasion, has been largely studied, following a systematic treatment by increasingly relaxing a number of restrictions. In [8], we considered a scenario where the pursuer and the evader move at bound speed, traveling around a known, 2D environment, which contains obstacles. Then, considering that, in an attempt to escape, the evader travels the shortest path to reach a potential escape region, we provided a decision procedure that determines whether or not the pursuer is up to maintain visibility of the evader and obtained complexity measures of this surveillance task. In this paper, we prove that there are cases for which an evader may escape only if it does not travel the shortest path to an escapable region. We introduce planning strategies for the movement of the pursuer that keeps track...

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Israel Becerra, Rafael Murrieta-Cid, Raul Monroy
• Keywords: Escape Region, ICRA 2010, Pursuer, Robotics, Shortest Path