Visibility-Based Pursuit-Evasion: The Case of Curved Environments.

Steven M. LaValle John Hinrichsen Visibility-Based Pursuit-Evasion: The Case of Curved Environments. 1677-1682 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-3.html#LaVallemH99 http://dx.doi.org/10.1109/ROBOT.1999.770350