A Visibility-Based Escort Problem

Lance G. Fletcher,Priyankari Perali,Andrew Beathard,Jason M. O'Kane,Lance G. Fletcher,Priyankari Perali,Andrew Beathard,Jason M. O'Kane

This paper introduces and solves a visibility-based escort planning problem. This novel problem, which is closely related to the well-researched family of visibility-based pursuit-evasion problems in robotics, entails an escort agent tasked with escorting a vulnerable agent, called the VIP, in a 2-dimensional environment. The escort protects the VIP from adversaries that pose line-of-sight threats...