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By Vedran Kordic

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6(b), there are one failed ATC at the first location and failed AGVs on YL 3 and 2. In this case, the destination is changed to YD 4, and then YL 4 is selected as well. 26 Cutting Edge Robotics 2010 (b) Failed AGVs and ATC on YLs 2 and 3 and at the 1st location Fig. 6. Operation at the container storage yard in the corrective maintenance state (a) Failed AGV on YL 3 6. 1 Experimental condition The MTBFs of the AGV and ATC are 50 and 40 hours, respectively. These are minimum parameters given in our previous work (Hoshino & Ota, 2007).

2006). Pursuit-Evasion Games in Presence of Obstacles in Unknown Environments: towards an optimal pursuit strategy 49 Interestingly, the authors point out that trying to maximize the instantaneous visibility, as done in Gonzalez-Banos et al. (2002); Lee et al. (2002), actually increases the latter probability of the evader disappearance, as opposed to a better balancing between closing the distance to the obstacle and maintaining visibility, which seems to offer a better global behavior of the algorithm.

1. Introduction Continuous differential games have been widely studied since the pioneering work of Issacs Isaacs (1965). In particular, pursuit-evasion games (PEGs) have received a great deal of attention, particularly in free spaces for problems such as the missile guidance Basar and Olsder. (1982); Espiau et al. (1992); Hájek (1975); Hutchinson et al. (1996); Isaacs (1965); Song and Um; (1996). Interesting recent works include the notion of forward reachable sets (related to maneuverability of the pursuer) for a team of pursuers against a fast moving evader Chung and Furukawa (2006); Chung et al.

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