{
  "id": "1611.04613",
  "version": "v1",
  "published": "2016-11-14T21:03:02.000Z",
  "updated": "2016-11-14T21:03:02.000Z",
  "title": "On the Optimal Policies for Visibility-Based Target Tracking",
  "authors": [
    "Rui Zou",
    "Hamid Emadi",
    "Sourabh Bhattacharya"
  ],
  "categories": [
    "math.OC"
  ],
  "abstract": "In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles. We formulate the game as an optimal control problem with state inequality constraint in a simple environment. We show that for some initial conditions, there are two different regimes in the optimal strategy of the pursuer depending on whether the state-constraint is activated. We derive the equations that characterize the switching time between the two regimes. The pursuer's optimal tracking strategy in a simple environment is further extended to a general environment with multiple polygonal obstacles. We propose techniques to construct a \"pursuit field\" based on the optimal solutions to guide the motion of the observer in a general environment.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2016-11-14T21:03:02.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "visibility-based target tracking",
      "optimal policies",
      "general environment",
      "simple environment",
      "multiple polygonal obstacles"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}