{"id":"https://openalex.org/W4285130069","doi":"https://doi.org/10.1109/lra.2022.3178799","title":"Surveillance and Collision-Free Tracking of an Aggressive Evader With an Actuated Sensor Pursuer","display_name":"Surveillance and Collision-Free Tracking of an Aggressive Evader With an Actuated Sensor Pursuer","publication_year":2022,"publication_date":"2022-05-30","ids":{"openalex":"https://openalex.org/W4285130069","doi":"https://doi.org/10.1109/lra.2022.3178799"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3178799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3178799","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083530213","display_name":"Eliezer Lozano","orcid":null},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Eliezer Lozano","raw_affiliation_strings":["Centro de Investigaci&#x00F3;n en Matem&#x00E1;ticas (CIMAT), Guanajuato, M&#x00E9;xico"],"raw_orcid":"https://orcid.org/0000-0003-1637-9046","affiliations":[{"raw_affiliation_string":"Centro de Investigaci&#x00F3;n en Matem&#x00E1;ticas (CIMAT), Guanajuato, M&#x00E9;xico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023716481","display_name":"Ubaldo Ruiz","orcid":"https://orcid.org/0000-0001-6857-1115"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ubaldo Ruiz","raw_affiliation_strings":["Centro de Investigaci&#x00F3;n Cient&#x00ED;fica y de Educaci&#x00F3;n Superior de Ensenada (CICESE), Baja California, M&#x00E9;xico"],"raw_orcid":"https://orcid.org/0000-0001-6857-1115","affiliations":[{"raw_affiliation_string":"Centro de Investigaci&#x00F3;n Cient&#x00ED;fica y de Educaci&#x00F3;n Superior de Ensenada (CICESE), Baja California, M&#x00E9;xico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039879856","display_name":"Israel Becerra","orcid":"https://orcid.org/0000-0002-9788-1128"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Israel Becerra","raw_affiliation_strings":["Centro de Investigaci&#x00F3;n en Matem&#x00E1;ticas (CIMAT), Guanajuato, M&#x00E9;xico"],"raw_orcid":"https://orcid.org/0000-0002-9788-1128","affiliations":[{"raw_affiliation_string":"Centro de Investigaci&#x00F3;n en Matem&#x00E1;ticas (CIMAT), Guanajuato, M&#x00E9;xico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001442360","display_name":"Rafael Murrieta-Cid","orcid":"https://orcid.org/0000-0002-8334-5287"},"institutions":[{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rafael Murrieta-Cid","raw_affiliation_strings":["Centro de Investigaci&#x00F3;n en Matem&#x00E1;ticas (CIMAT), Guanajuato, M&#x00E9;xico"],"raw_orcid":"https://orcid.org/0000-0002-8334-5287","affiliations":[{"raw_affiliation_string":"Centro de Investigaci&#x00F3;n en Matem&#x00E1;ticas (CIMAT), Guanajuato, M&#x00E9;xico","institution_ids":["https://openalex.org/I124618812"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083530213"],"corresponding_institution_ids":["https://openalex.org/I124618812"],"apc_list":null,"apc_paid":null,"fwci":8.9243,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.96988039,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"6854","last_page":"6861"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9663000106811523,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pursuer","display_name":"Pursuer","score":0.9979400634765625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6396421790122986},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5800175666809082},{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.5774904489517212},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5747159719467163},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5508956909179688},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.550318717956543},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4583927392959595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37043288350105286},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36821311712265015},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35522907972335815},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35275208950042725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2337106466293335},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20212003588676453},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13793614506721497},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09958028793334961},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08094590902328491},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.053866952657699585}],"concepts":[{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.9979400634765625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6396421790122986},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5800175666809082},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.5774904489517212},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5747159719467163},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5508956909179688},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.550318717956543},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4583927392959595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37043288350105286},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36821311712265015},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35522907972335815},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35275208950042725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2337106466293335},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20212003588676453},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13793614506721497},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09958028793334961},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08094590902328491},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.053866952657699585},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3178799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3178799","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W586722081","https://openalex.org/W958831818","https://openalex.org/W1524674316","https://openalex.org/W1633338931","https://openalex.org/W1971086298","https://openalex.org/W2058197213","https://openalex.org/W2072171694","https://openalex.org/W2091102585","https://openalex.org/W2118525851","https://openalex.org/W2143636324","https://openalex.org/W2149746310","https://openalex.org/W2152595196","https://openalex.org/W2152771674","https://openalex.org/W2153616232","https://openalex.org/W2161303196","https://openalex.org/W2168824252","https://openalex.org/W2294287850","https://openalex.org/W2580211036","https://openalex.org/W2763736187","https://openalex.org/W2768774177","https://openalex.org/W2793805062","https://openalex.org/W2905716826","https://openalex.org/W3011621039","https://openalex.org/W3047385205","https://openalex.org/W3115584463","https://openalex.org/W4205625024","https://openalex.org/W4236661448","https://openalex.org/W4250025712","https://openalex.org/W4253058183"],"related_works":["https://openalex.org/W2057376130","https://openalex.org/W2091926052","https://openalex.org/W4253161990","https://openalex.org/W2039546613","https://openalex.org/W2184611791","https://openalex.org/W2522390654","https://openalex.org/W1994748888","https://openalex.org/W114019308","https://openalex.org/W3152565215","https://openalex.org/W3085106833"],"abstract_inverted_index":{"This":[0],"letter":[1],"addresses":[2],"a":[3,37,74,113,149,169,192],"visibility-based":[4],"pursuit-evasion":[5],"game.":[6,80],"The":[7,17],"pursuer\u2019s":[8,24,38],"task":[9],"is":[10,20,70],"to":[11,21,77,99],"maintain":[12],"the":[13,23,32,46,52,57,63,79,97,106,117,120,140,172],"evader\u2019s":[14,18],"visibility":[15],"continuously.":[16],"objective":[19],"avoid":[22,43],"surveillance.":[25],"Some":[26],"contributions":[27],"of":[28,152,165],"this":[29,176],"work":[30,177],"are":[31,89],"following:":[33],"1)":[34],"We":[35,124,131],"present":[36,125],"motion":[39],"strategy":[40,170],"that":[41,55,82,91,115,143],"can":[42,108,146],"collisions":[44],"with":[45,135,148,159],"evader.":[47,64],"Thus,":[48],"we":[49],"have":[50],"generalized":[51],"problem":[53],"considering":[54,127],"hitting":[56],"pursuer":[58],"produces":[59],"an":[60,160],"escape":[61,118],"for":[62,86,112,171,180],"2)":[65],"A":[66],"general":[67],"mathematical":[68],"formulation":[69],"proposed":[71,138],"based":[72],"on":[73,93],"min-max":[75],"approach":[76,145],"model":[78],"Utilizing":[81],"formulation,":[83],"several":[84],"alternatives":[85],"player":[87,95,196],"strategies":[88,137,179],"presented":[90],"vary":[92],"which":[94,195],"takes":[96],"initiative":[98],"move":[100],"first.":[101,198],"Among":[102],"these":[103],"strategies,":[104],"if":[105],"evader":[107],"escape,":[109],"it":[110],"searches":[111],"trajectory":[114],"generates":[116],"in":[119,139],"shortest":[121],"possible":[122],"time.":[123],"simulations":[126],"challenging":[128],"game":[129],"scenarios.":[130],"also":[132],"offer":[133],"comparisons":[134],"surveillance":[136],"literature,":[141],"showing":[142],"our":[144],"deal":[147,158],"broader":[150],"range":[151],"situations.":[153],"Additionally,":[154],"previous":[155,184],"approaches":[156,185],"cannot":[157],"aggressive":[161],"evader,":[162],"and":[163],"most":[164],"them":[166],"only":[167],"provide":[168],"pursuer.":[173],"In":[174],"contrast,":[175],"provides":[178],"both":[181],"players.":[182],"Furthermore,":[183],"do":[186],"not":[187],"consider":[188],"who":[189],"acts":[190],"as":[191],"leader,":[193],"namely,":[194],"moves":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
