标题： 在存在测距限制追捕者情况下的安全导航 显示英文标题

标题： Safe Navigation in the Presence of Range-Limited Pursuers

摘要： 本文研究了逃避者寻求安全且高效的路径到达目标位置时，能够从增加对一个或多个范围有限的追捕者拦截其行为的知识程度中受益的程度。 与之前的工作不同，这项研究考虑了主动尝试拦截的追捕者的飞行时间。 结果表明，额外的知识使逃避者能够更安全地靠近威胁，缩短路径而不接受额外的被捕风险。 提出了一种控制启发式方法，适用于实时实现，利用逃避者所有可用的知识。 显示英文摘要

摘要： This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous work, this research considers the time of flight of the pursuers actively attempting interception. It is shown that additional knowledge allows the evader to safely steer closer to the threats, shortening paths without accepting additional risk of capture. A control heuristic is presented, suitable for real time implementation, which capitalizes on all knowledge available to the evader.