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

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.