# Minimum-Time Escape from the Conic Field of View of a Reeds-Shepp Pursuer: Classification and Game Value for a Slower or Equally Fast Evader

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ulv4re3vfa8izmzl58x1owtz8
- Original: https://arxiv.org/abs/2610.27629

## Summary

An arXiv paper studies how an omnidirectional evader escapes in minimum time from the forward conic field of view of a Reeds-Shepp pursuer with minimum turning radius r. For slower or equally fast evaders with speed ratio sinα<ν≤1, it constructs a feedback solution using Isaacs' characteristics and gives a scalar equation for the finite escape time.