Optimal strategies to track and capture a predictable target

Alon Efrat, Hector H. González-Baños, Stephen G Kobourov, Lingeshwaran Palaniappan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

We present an O(n log1+εn)-time algorithm for computing the optimal robot motion that maintains line-of-sight visibility between a target moving inside a polygon with n vertices which may contain holes. The motion is optimal for the tracking robot (the observer) in the sense that the target either remains visible for the longest possible time, or it is captured by the observer in the minimum time when feasible. Thus, the algorithm maximizes the minimum time-to-escape. Our algorithm assumes that the target moves along a known path. Thus, it is an off-line algorithm. Our theoretical results for the algorithm's runtime assume that the target is moving along a shortest path from its source to its destination. This assumption, however is not required to prove the optimality of the computed solution, hence the algorithm remains correct for the general case.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3789-3796
Number of pages8
Volume3
StatePublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period9/14/039/19/03

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Robots
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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Efrat, A., González-Baños, H. H., Kobourov, S. G., & Palaniappan, L. (2003). Optimal strategies to track and capture a predictable target. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 3789-3796)

Optimal strategies to track and capture a predictable target. / Efrat, Alon; González-Baños, Hector H.; Kobourov, Stephen G; Palaniappan, Lingeshwaran.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2003. p. 3789-3796.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Efrat, A, González-Baños, HH, Kobourov, SG & Palaniappan, L 2003, Optimal strategies to track and capture a predictable target. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 3789-3796, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Province of China, 9/14/03.
Efrat A, González-Baños HH, Kobourov SG, Palaniappan L. Optimal strategies to track and capture a predictable target. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 2003. p. 3789-3796
Efrat, Alon ; González-Baños, Hector H. ; Kobourov, Stephen G ; Palaniappan, Lingeshwaran. / Optimal strategies to track and capture a predictable target. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2003. pp. 3789-3796
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