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Time-optimal Escape of an Omnidirectional Agent from the Field of View of a Differential Drive Robot

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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.

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Authors and Affiliations

  1. Centro de Investigación Científica y de Educación Superior de Ensenada (CICESE), Ensenada, 22860, Baja California, México

    Ubaldo Ruiz

  2. Consejo Nacional de Ciencia y Tecnología (CONACYT), Cd. de México, 03940, México

    Ubaldo Ruiz

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  1. Ubaldo Ruiz
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Correspondence to Ubaldo Ruiz.

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Ubaldo Ruiz received his Ph.D. degree in computer science from Centro de Investigación en Matemáticas (CIMAT), Guanajuato, México, in 2013. In 2013–2014, he was a Postdoctoral Fellow in the Computer Science Department of the University of Minnesota. Since 2014, he is a CONA-CYT Research Fellow working at Centro de Investigación Científica y de Educación Superior de Ensenada (CICESE), Baja California, Mexico. His research interests include robotics, differential games, optimal control, and motion planning.

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This work was financially supported by CONACYT grant A1-S-21934 and Catedras-CONACYT project 1850.

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Ruiz, U. Time-optimal Escape of an Omnidirectional Agent from the Field of View of a Differential Drive Robot. Int. J. Control Autom. Syst. 21, 292–305 (2023). https://doi.org/10.1007/s12555-021-0686-8

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  • DOI: https://doi.org/10.1007/s12555-021-0686-8

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