Full Content is available to subscribers

Subscribe/Learn More  >

Approximation of Capture Sets in Visibility-Based Target-Tracking Games for Non-Holonomic Players

[+] Author Affiliations
Rui Zou, Sourabh Bhattacharya

Iowa State University, Ames, IA

Paper No. DSCC2017-5379, pp. V002T07A004; 9 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


In this work, we analyze approximations of capture sets [1] for a visibility based pursuit-evasion game. In contrast to the capture problem, the pursuer tries to maintain a line-of-sight with the evader in free space in our problem. We extend the concept of U set initially proposed in [2] for holonomic players to the scenario in which the pursuer is holonomic. The problem of computing the U set is reduced to that of computing time-optimal paths for the non-holonomic vehicles to an arbitrary line. We characterize the primitives for time-optimal paths for the Dubin’s vehicle, Reed-shepps car and a Differential Drive robot. Based on these primitives, we construct the optimal paths and provide an algorithm to compute the U set.

Copyright © 2017 by ASME
Topics: Approximation



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In