ABSTRACT

This paper addresses a surveillance problem between a Differential Drive Robot (DDR) and an Omnidirectional Agent (OA) in a Euclidean plane without obstacles. The agent is initially located inside the robot's detection region, and it wants to escape from it as soon as possible. The DDR, on the other hand, wants to delay the escape as much as possible. The pursuer's detection region is modelled as a circle centred at the pursuer's current location. In this work, the time-optimal motion strategies for the players are presented. Also, based on the players' initial configurations, we solve the decision problem of determining the winner of the game.

中文翻译：

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全向代理和差动驱动机器人之间的监视游戏

摘要

本文解决了在欧几里得平面上没有障碍物的差分驱动机器人 (DDR) 和全向代理 (OA) 之间的监视问题。代理最初位于机器人的检测区域内，它希望尽快逃离它。另一方面，DDR 则希望尽可能地推迟逃跑时间。追踪者的检测区域被建模为以追踪者当前位置为中心的圆圈。在这项工作中，提出了玩家的时间最优运动策略。此外，基于玩家的初始配置，我们解决了确定游戏获胜者的决策问题。