{"id":"https://openalex.org/W2905716826","doi":"https://doi.org/10.1109/tro.2018.2882747","title":"On Optimal Pursuit Trajectories for Visibility-Based Target-Tracking Game","display_name":"On Optimal Pursuit Trajectories for Visibility-Based Target-Tracking Game","publication_year":2018,"publication_date":"2018-12-25","ids":{"openalex":"https://openalex.org/W2905716826","doi":"https://doi.org/10.1109/tro.2018.2882747","mag":"2905716826"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2882747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2882747","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5101509638","display_name":"Rui Zou","orcid":"https://orcid.org/0000-0002-3918-9010"},"institutions":[{"id":"https://openalex.org/I887054487","display_name":"MathWorks (United States)","ror":"https://ror.org/01n8qtk87","country_code":"US","type":"company","lineage":["https://openalex.org/I887054487"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Rui Zou","raw_affiliation_strings":["Mathworks, Inc., MA, USA"],"affiliations":[{"raw_affiliation_string":"Mathworks, Inc., MA, USA","institution_ids":["https://openalex.org/I887054487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021207606","display_name":"Sourabh Bhattacharya","orcid":"https://orcid.org/0000-0002-1306-2775"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sourabh Bhattacharya","raw_affiliation_strings":["Department of Computer Science and the Department of Mechanical Engineering, Iowa State University, Ames, IA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and the Department of Mechanical Engineering, Iowa State University, Ames, IA, USA","institution_ids":["https://openalex.org/I173911158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101509638"],"corresponding_institution_ids":["https://openalex.org/I887054487"],"apc_list":null,"apc_paid":null,"fwci":5.3231,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95167086,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"35","issue":"2","first_page":"449","last_page":"465"},"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":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9717000126838684,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7602323293685913},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5846408009529114},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5821741819381714},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5786711573600769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5478888750076294},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5393879413604736},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5252858400344849},{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.48203766345977783},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47277453541755676},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.44690391421318054},{"id":"https://openalex.org/keywords/separation-principle","display_name":"Separation principle","score":0.43899327516555786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3811323046684265},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37332236766815186},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.3211418390274048},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.31307411193847656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2731388807296753},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17977511882781982},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16860640048980713}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7602323293685913},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5846408009529114},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5821741819381714},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5786711573600769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5478888750076294},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5393879413604736},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5252858400344849},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.48203766345977783},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47277453541755676},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44690391421318054},{"id":"https://openalex.org/C62431964","wikidata":"https://www.wikidata.org/wiki/Q2271572","display_name":"Separation principle","level":4,"score":0.43899327516555786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3811323046684265},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37332236766815186},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.3211418390274048},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.31307411193847656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2731388807296753},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17977511882781982},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16860640048980713},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2018.2882747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2882747","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2962729300","display_name":null,"funder_award_id":"IIS-1816343","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W198314130","https://openalex.org/W205745144","https://openalex.org/W240029891","https://openalex.org/W1486399932","https://openalex.org/W1512691241","https://openalex.org/W1529815896","https://openalex.org/W1536111662","https://openalex.org/W1551360398","https://openalex.org/W1555521429","https://openalex.org/W1562460111","https://openalex.org/W1582529608","https://openalex.org/W1971322941","https://openalex.org/W1976143080","https://openalex.org/W1983611541","https://openalex.org/W2002942162","https://openalex.org/W2003669963","https://openalex.org/W2021576817","https://openalex.org/W2024916965","https://openalex.org/W2027698629","https://openalex.org/W2031251688","https://openalex.org/W2033049381","https://openalex.org/W2055014394","https://openalex.org/W2058197213","https://openalex.org/W2059007332","https://openalex.org/W2067778155","https://openalex.org/W2068635435","https://openalex.org/W2072030816","https://openalex.org/W2072171694","https://openalex.org/W2076702909","https://openalex.org/W2091102585","https://openalex.org/W2093958493","https://openalex.org/W2114144879","https://openalex.org/W2116364955","https://openalex.org/W2116647221","https://openalex.org/W2117795877","https://openalex.org/W2120171547","https://openalex.org/W2131687331","https://openalex.org/W2132714442","https://openalex.org/W2133105697","https://openalex.org/W2133469738","https://openalex.org/W2133553715","https://openalex.org/W2145201569","https://openalex.org/W2152595196","https://openalex.org/W2155881359","https://openalex.org/W2157488300","https://openalex.org/W2161965271","https://openalex.org/W2165489953","https://openalex.org/W2167937316","https://openalex.org/W2170508483","https://openalex.org/W2221321873","https://openalex.org/W2269227214","https://openalex.org/W2294287850","https://openalex.org/W2318745254","https://openalex.org/W2491043714","https://openalex.org/W2499159698","https://openalex.org/W2507881886","https://openalex.org/W2580211036","https://openalex.org/W2727450595","https://openalex.org/W2737980717","https://openalex.org/W2768774177","https://openalex.org/W2790417441","https://openalex.org/W2961703895","https://openalex.org/W2963642217","https://openalex.org/W3104753760","https://openalex.org/W4205610252","https://openalex.org/W4236661448","https://openalex.org/W4246384432","https://openalex.org/W6658593131","https://openalex.org/W6679876995","https://openalex.org/W6681835926","https://openalex.org/W6723055719","https://openalex.org/W7036705303"],"related_works":["https://openalex.org/W2385251419","https://openalex.org/W3013416265","https://openalex.org/W1990647881","https://openalex.org/W2098504625","https://openalex.org/W2394201814","https://openalex.org/W2322405588","https://openalex.org/W2353206064","https://openalex.org/W4388806599","https://openalex.org/W2053616385","https://openalex.org/W2351985307"],"abstract_inverted_index":{"In":[0],"this":[1,54],"paper,":[2],"we":[3,52,94,115,161],"address":[4,53],"a":[5,13,19,23,60,163,169],"class":[6,143],"of":[7,37,72,85,102,119,128,137,158,165,177],"visibility-based":[8],"pursuit-evasion":[9],"game":[10,66],"in":[11,26,46,56,88],"which":[12,77],"mobile":[14,24],"observer":[15,32,79,104,139],"tries":[16],"to":[17,141],"maintain":[18],"line-of-sight":[20],"(LOS)":[21],"with":[22],"target":[25,39,44,87],"an":[27,57,68],"environment":[28,58],"containing":[29,59],"obstacles.":[30],"The":[31],"knows":[33],"the":[34,38,43,47,65,74,78,82,86,97,103,117,120,129,134,138,142,159,166,173,178],"current":[35],"position":[36,127,157],"as":[40,42,67],"long":[41],"is":[45],"observer's":[48],"LOS.":[49],"At":[50],"first,":[51],"problem":[55,71],"single":[61],"corner.":[62],"We":[63,131],"formulate":[64],"optimal":[69,100,121,135,174],"control":[70,175],"maximizing":[73],"time":[75],"for":[76,99],"can":[80],"keep":[81],"reachability":[83],"set":[84],"its":[89],"field-of-view.":[90],"Using":[91],"Pontryagin's":[92],"principle,":[93],"show":[95,132],"that":[96,133],"primitives":[98],"motion":[101],"are":[105],"straight":[106],"lines":[107],"(ST":[108],")":[109],"and":[110],"spiral-like":[111],"curves":[112],"(C).":[113],"Next,":[114],"present":[116,162],"synthesis":[118],"trajectories":[122],"from":[123],"any":[124,155],"given":[125],"initial":[126,156],"observer.":[130,179],"path":[136],"belongs":[140],"{ST,":[144],"C":[145,150],"-":[146,149,151],"ST,":[147],"ST":[148,152],"}.":[153],"Given":[154],"target,":[160],"partition":[164],"workspace":[167],"around":[168],"corner":[170],"based":[171],"on":[172],"policy":[176]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}