# An Optimal Engagement Zone Avoidance Scenario in 2-D

arXiv: https://arxiv.org/abs/2111.05904 · HTML: https://mlsanity.com/paper/2111.05904/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Nov 2021.

## Built on by (most cited first, 3 of 3)

- [A Comparison of Reinforcement Learning and Optimal Control Methods for Path Planning](https://mlsanity.com/paper/2604.12628/) (2026)
- [Path Planning Using Deep Deterministic Policy Gradient: A Reinforcement Learning Approach](https://mlsanity.com/paper/2606.07855/) (2026)
- [Combining Reinforcement Learning with Arc-search Interior-Point Method for Path Planning](https://mlsanity.com/paper/2606.07920/) (2026)

## Abstract (arXiv)

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First, the min-time strategy which ignores the engagement zone is posed and solved. Second, the min-time strategy which avoids the engagement zone entirely is considered. Third, the min-time strategy which allows for some time in the engagement zone; but, still strives to stay away from the center of the engagement zone is posed. Lastly, a fixed final-time strategy is considered, wherein the target tries to avoid the engagement zone; but, is required to arrive at the desired location at a specific time. Using a nonlinear program solver, the optimal strategies are numerically solved. From the results of the numeric solutions, the optimal strategies are discussed and comparisons are drawn.