Pursuit evasion in dynamic environments with visibility constraints

Ibrahim Al-Bluwi, Ashraf Elnagar

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

1 Scopus citations


This paper presents a novel approach for the problem of tracking a moving target in a dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.

Original languageEnglish (US)
Title of host publicationIntelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Number of pages14
EditionPART 2
StatePublished - 2010
Event3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China
Duration: Nov 10 2010Nov 12 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume6425 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science


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