{"id":"https://openalex.org/W3021733985","doi":"https://doi.org/10.1137/17m1152589","title":"Smarter Lions: Efficient Cooperative Pursuit in General Bounded Arenas","display_name":"Smarter Lions: Efficient Cooperative Pursuit in General Bounded Arenas","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3021733985","doi":"https://doi.org/10.1137/17m1152589","mag":"3021733985"},"language":"en","primary_location":{"id":"doi:10.1137/17m1152589","is_oa":false,"landing_page_url":"https://doi.org/10.1137/17m1152589","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","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/A5088606320","display_name":"Zhengyuan Zhou","orcid":"https://orcid.org/0000-0002-0005-9411"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengyuan Zhou","raw_affiliation_strings":["New York University**"],"raw_orcid":"https://orcid.org/0000-0002-0005-9411","affiliations":[{"raw_affiliation_string":"New York University**","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064244744","display_name":"Jonathan Richard Shewchuk","orcid":null},"institutions":[{"id":"https://openalex.org/I2803209242","display_name":"University of California System","ror":"https://ror.org/00pjdza24","country_code":"US","type":"education","lineage":["https://openalex.org/I2803209242"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan R. Shewchuk","raw_affiliation_strings":["University of California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California","institution_ids":["https://openalex.org/I2803209242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046079000","display_name":"Du\u0161an M. Stipanovi\u0107","orcid":"https://orcid.org/0000-0002-2826-5241"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du\u0161an Stipanovi\u0107","raw_affiliation_strings":["Industrial and Enterprise Systems Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial and Enterprise Systems Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021839334","display_name":"Haomiao Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157079","display_name":"Klein Buendel (United States)","ror":"https://ror.org/055ysan77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157079"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haomiao Huang","raw_affiliation_strings":["Kleiner Perkins Caufield"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kleiner Perkins Caufield","institution_ids":["https://openalex.org/I4210157079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I2803209242","display_name":"University of California System","ror":"https://ror.org/00pjdza24","country_code":"US","type":"education","lineage":["https://openalex.org/I2803209242"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["University of California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California","institution_ids":["https://openalex.org/I2803209242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.3902,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98624474,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"58","issue":"2","first_page":"1229","last_page":"1256"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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":0.9905999898910522,"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/bounded-function","display_name":"Bounded function","score":0.7370714545249939},{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.7337731719017029},{"id":"https://openalex.org/keywords/pursuer","display_name":"Pursuer","score":0.6938879489898682},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6288295388221741},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.603320300579071},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5898222923278809},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5219854116439819},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.5184049606323242},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5017645359039307},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.4644026756286621},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3781065046787262},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34648409485816956},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3200245201587677},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1383611261844635},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13772711157798767}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7370714545249939},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.7337731719017029},{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.6938879489898682},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6288295388221741},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.603320300579071},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5898222923278809},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5219854116439819},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.5184049606323242},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5017645359039307},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.4644026756286621},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3781065046787262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34648409485816956},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3200245201587677},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1383611261844635},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13772711157798767},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1137/17m1152589","is_oa":false,"landing_page_url":"https://doi.org/10.1137/17m1152589","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1183755136","display_name":null,"funder_award_id":"N00014-17-S- BA13","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G2673579566","display_name":null,"funder_award_id":"CPS-0931843, CCF-1423560, CCF-1909204","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"},{"id":"https://openalex.org/F4320307762","display_name":"International Business Machines Corporation","ror":"https://ror.org/05hh8d621"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1975772011","https://openalex.org/W1978547141","https://openalex.org/W1984577498","https://openalex.org/W1998869725","https://openalex.org/W2001451501","https://openalex.org/W2013765672","https://openalex.org/W2015309545","https://openalex.org/W2029756211","https://openalex.org/W2041510701","https://openalex.org/W2046635105","https://openalex.org/W2050433809","https://openalex.org/W2056948134","https://openalex.org/W2062468924","https://openalex.org/W2066580552","https://openalex.org/W2073889449","https://openalex.org/W2100321776","https://openalex.org/W2116364955","https://openalex.org/W2123505723","https://openalex.org/W2139676984","https://openalex.org/W2160484294","https://openalex.org/W2294265454","https://openalex.org/W2414457428","https://openalex.org/W2498529546","https://openalex.org/W2771197443","https://openalex.org/W4210802945"],"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":{"We":[0,97],"study":[1],"a":[2,12,25,36,41,47,59,73,99,111,151,174,188],"full-knowledge":[3],"pursuit-evasion":[4],"problem":[5],"where":[6],"cooperating":[7],"pursuers":[8,105,148,162,180],"attempt":[9],"to":[10,183,200,247,253],"capture":[11,60,107,129,184,203,221],"single":[13,48],"evader":[14,109,186],"of":[15,20,39,65,69,75,94,123,210,226],"equal":[16],"(and":[17],"without":[18],"loss":[19],"generality,":[21],"unit)":[22],"speed":[23],"in":[24,62,91,110,115,120,150,168,187,195,231],"closed,":[26],"bounded,":[27],"two-dimensional":[28,190,229],"arena":[29,114,191],"whose":[30],"boundaries":[31],"may":[32],"be":[33],"curved.":[34],"By":[35],"famous":[37],"result":[38,74],"Besicovitch,":[40],"point-sized":[42,49],"lion":[43,55,85],"(pursuer)":[44],"can":[45,82,106],"evade":[46,83],"man":[50,81],"(evader)":[51],"indefinitely.":[52],"If":[53],"the":[54,63,80,84,92,121,124,128,140,208,215,224,241,248],"is":[56,89,118,131,135,198,205,214],"endowed":[57],"with":[58,192],"radius":[61,130,204],"form":[64],"an":[66,108,185,227],"outstretched":[67],"paw":[68],"length":[70],"$r$,":[71],"by":[72,102,177],"Alonso,":[76],"Goldstein,":[77],"and":[78,146,154,236],"Reingold,":[79],"for":[86,165],"time":[87,116,196],"that":[88,117,157,197,218],"superlinear":[90],"diameter":[93,122],"circular":[95],"arena.":[96],"propose":[98,173],"pursuit":[100,167,175],"algorithm":[101,134,176,217],"which":[103,178],"two":[104,147,161],"simply":[112],"connected":[113],"linear":[119],"arena,":[125],"even":[126],"when":[127,251],"zero.":[132],"This":[133],"clearly":[136,155],"asymptotically":[137],"optimal,":[138],"highlights":[139],"performance":[141],"gap":[142],"between":[143],"one":[144],"pursuer":[145],"(even":[149],"convex":[152],"domain)":[153],"establishes":[156],"no":[158],"more":[159],"than":[160],"are":[163,181],"needed":[164],"optimal":[166],"simply-connected":[169],"domains.":[170,255],"Furthermore,":[171],"we":[172],"three":[179],"guaranteed":[182],"general":[189],"$h$":[193],"obstacles":[194],"proportional":[199],"$hd$":[201],"(when":[202],"zero).":[206],"To":[207],"best":[209,242],"our":[211],"knowledge,":[212],"this":[213],"first":[216],"has":[219],"provable":[220],"guarantees":[222],"at":[223],"generality":[225],"arbitrary":[228],"domain":[230],"continuous-time":[232],"(the":[233],"hardest":[234],"case)":[235],"that,":[237],"equally":[238],"importantly,":[239],"yields":[240],"time-capture":[243],"bounds":[244],"(in":[245],"comparison":[246],"existing":[249],"literature)":[250],"specialized":[252],"polygonal":[254]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
