Line-of-Sight Pursuit in Monotone and Scallop Polygons

Abstract

We study a turn-based game in a simply connected polygonal environment [Formula: see text] between a pursuer [Formula: see text] and an adversarial evader [Formula: see text]. Both players can move in a straight line to any point within unit distance during their turn. The pursuer [Formula: see text] wins by capturing the evader, meaning that their distance satisfies [Formula: see text], while the evader wins by eluding capture forever. Both players have a map of the environment, but they have different sensing capabilities. The evader [Formula: see text] always knows the location of [Formula: see text]. Meanwhile, [Formula: see text] only has line-of-sight visibility: [Formula: see text] observes the evader’s position only when the line segment connecting them lies entirely within the polygon. Therefore [Formula: see text] must search for [Formula: see text] when the evader is hidden from view. We provide a winning strategy for [Formula: see text] in two families of polygons: monotone polygons and scallop polygons. In both families, a straight line [Formula: see text] can be moved continuously over [Formula: see text] so that (1) [Formula: see text] is a line segment and (2) every point on the boundary [Formula: see text] is swept exactly once. These are both subfamilies of strictly sweepable polygons. The sweeping motion for a monotone polygon is a single translation, and the sweeping motion for a scallop polygon is a single rotation. Our algorithms use rook’s strategy during its pursuit phase, rather than the well-known lion’s strategy. The rook’s strategy is crucial for obtaining a capture time that is linear in the area of [Formula: see text]. For both monotone and scallop polygons, our algorithm has a capture time of [Formula: see text], where [Formula: see text] is the number of polygon vertices.