A pursuit–evasion game between two identical differential drive robots.

This paper addresses a pursuit-evasion problem between two identical Differential Drive Robots (DDRs). The pursuer wants to capture the evader in minimal time, while the evader wants to delay capture as much as possible. The game takes place in a Euclidean plane without obstacles. In this work, the motion primitives and time-optimal motion strategies for both players are presented. Based on the initial positions of the players, it is possible to solve the decision problem of determining the winner of the game. Simulations of the pursuit-evasion game showing the time-optimal motion primitives of the players are provided for both cases, when the pursuer wins and when the evader escapes. [ABSTRACT FROM AUTHOR]