Adrian Dumitrescu Howi Kok Ichiro Suzuki Pawel Zylinski Vision-Based Pursuit-Evasion in a Grid. 53-64 2008 SWAT http://dx.doi.org/10.1007/978-3-540-69903-3_7 conf/swat/2008 db/conf/swat/swat2008.html#DumitrescuKSZ08