{"id":"https://openalex.org/W4388240445","doi":"https://doi.org/10.1109/tac.2023.3329693","title":"Homicidal Chauffeur Reach-Avoid Games via Guaranteed Winning Strategies","display_name":"Homicidal Chauffeur Reach-Avoid Games via Guaranteed Winning Strategies","publication_year":2023,"publication_date":"2023-11-02","ids":{"openalex":"https://openalex.org/W4388240445","doi":"https://doi.org/10.1109/tac.2023.3329693"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2023.3329693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3329693","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","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/A5058113154","display_name":"Rui Yan","orcid":"https://orcid.org/0000-0002-8685-5055"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rui Yan","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8685-5055","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015492944","display_name":"Ruiliang Deng","orcid":"https://orcid.org/0009-0009-1308-3443"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruiliang Deng","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-1308-3443","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054443823","display_name":"Haowen Lai","orcid":"https://orcid.org/0000-0001-8722-0820"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haowen Lai","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8722-0820","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101553949","display_name":"Weixian Zhang","orcid":"https://orcid.org/0009-0001-9733-9099"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weixian Zhang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-9733-9099","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043045459","display_name":"Zongying Shi","orcid":"https://orcid.org/0000-0002-6805-6858"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongying Shi","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6805-6858","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101631780","display_name":"Yisheng Zhong","orcid":"https://orcid.org/0000-0001-7871-7317"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Zhong","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7871-7317","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5058113154"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":16.1078,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98676366,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"69","issue":"4","first_page":"2367","last_page":"2382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.998199999332428,"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":0.998199999332428,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5227673053741455},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3533087968826294},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3251391649246216},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.3240174949169159},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.261258602142334},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22462382912635803},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.207881361246109}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5227673053741455},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3533087968826294},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3251391649246216},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.3240174949169159},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.261258602142334},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22462382912635803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.207881361246109}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2023.3329693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3329693","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W86925584","https://openalex.org/W606428098","https://openalex.org/W1966660110","https://openalex.org/W1975236902","https://openalex.org/W1978557022","https://openalex.org/W1988837728","https://openalex.org/W2013298725","https://openalex.org/W2056018340","https://openalex.org/W2056616297","https://openalex.org/W2068581168","https://openalex.org/W2078061988","https://openalex.org/W2088907413","https://openalex.org/W2106816694","https://openalex.org/W2116364955","https://openalex.org/W2120241396","https://openalex.org/W2141209752","https://openalex.org/W2142783973","https://openalex.org/W2143897835","https://openalex.org/W2146626080","https://openalex.org/W2179144752","https://openalex.org/W2269227214","https://openalex.org/W2414457428","https://openalex.org/W2478546060","https://openalex.org/W2497682501","https://openalex.org/W2626728159","https://openalex.org/W2752593489","https://openalex.org/W2766038752","https://openalex.org/W2785598896","https://openalex.org/W2800924269","https://openalex.org/W2802343062","https://openalex.org/W2963118121","https://openalex.org/W2963606896","https://openalex.org/W2972260985","https://openalex.org/W2990482634","https://openalex.org/W2994078358","https://openalex.org/W2996298223","https://openalex.org/W2996969381","https://openalex.org/W3005581757","https://openalex.org/W3006321499","https://openalex.org/W3007267406","https://openalex.org/W3024030038","https://openalex.org/W3035782080","https://openalex.org/W3083469639","https://openalex.org/W3117160560","https://openalex.org/W4297493126"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W4395014643","https://openalex.org/W4391913857","https://openalex.org/W2350741829"],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2],"a":[3,14,28,59,66,79,82,131,145,153,173,185,193],"planar":[4],"Homicidal":[5],"Chauffeur":[6],"reach-avoid":[7],"differential":[8],"game,":[9],"where":[10],"the":[11,18,32,63,76,88,120,126,139,160,176,179,189,218],"pursuer":[12,24,68,84],"is":[13,36,54,72,85,123,128,136,148,157,169],"Dubins":[15],"car":[16],"and":[17,97,106,115,138,162,195],"evader":[19],"has":[20],"simple":[21],"motion.":[22],"The":[23,34,104],"aims":[25],"to":[26,118,141,171,203,216],"protect":[27],"goal":[29],"region":[30],"from":[31],"evader.":[33],"game":[35],"solved":[37],"in":[38],"an":[39,49],"analytical":[40],"approach":[41],"instead":[42],"of":[43,65,178,188],"solving":[44],"Hamilton\u2013Jacobi\u2013Isaacs":[45],"equations":[46],"numerically.":[47],"First,":[48],"<italic":[50,92,98],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[51,93,99],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">evasion":[52],"region</i>":[53],"introduced,":[55],"based":[56],"on":[57,109,151],"which":[58],"pursuit":[60,121,134,155,197],"strategy":[61,80,135,156],"guaranteeing":[62,175],"winning":[64,122,177,198],"simple-motion":[67,77],"under":[69],"specific":[70],"conditions":[71],"proposed.":[73],"Motivated":[74],"by":[75,206],"pursuer,":[78],"for":[81,159,210],"Dubins-car":[83],"proposed":[86,158],"when":[87],"pursuer\u2013evader":[89,211],"configuration":[90],"satisfies":[91],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">separation":[94],"condition":[95,108,140,174],"(SC)</i>":[96],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">interception":[100],"orientation":[101],"(IO)</i>":[102],".":[103],"necessary":[105],"sufficient":[107,194],"capture":[110],"radius,":[111,114],"minimum":[112],"turning":[113],"speed":[116],"ratio":[117],"guarantee":[119],"derived.":[124],"When":[125],"IO":[127,143],"deviated":[129],"(Non-IO),":[130],"heading":[132],"adjustment":[133],"proposed,":[137],"achieve":[142],"within":[144],"finite":[146],"time":[147],"given.":[149],"Based":[150],"it,":[152],"two-step":[154],"SC":[161],"Non-IO":[163],"case.":[164],"A":[165,181],"nonconvex":[166,190],"optimization":[167],"problem":[168],"introduced":[170],"give":[172],"pursuer.":[180],"polynomial":[182],"equation":[183],"gives":[184],"lower":[186],"bound":[187],"problem,":[191],"providing":[192],"efficient":[196],"condition.":[199],"Finally,":[200],"we":[201],"extend":[202],"multiplayer":[204],"games":[205],"collecting":[207],"pairwise":[208],"outcomes":[209],"matchings.":[212],"Simulations":[213],"are":[214],"provided":[215],"illustrate":[217],"theoretical":[219],"results.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
