# Optimal Evasion from a Sensing-Limited Pursuer

arXiv: https://arxiv.org/abs/2401.12848 · HTML: https://mlsanity.com/paper/2401.12848/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Jan 2024.

## Built on by (most cited first, 1 of 1)

- [Strategic Communication under Threat: Learning Information Trade-offs in Pursuit-Evasion Games](https://mlsanity.com/paper/2510.07813/) (2025)

## Abstract (arXiv)

This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its distance from the pursuer at the end. Our analysis reveals that in certain parametric regimes, the optimal Evasion strategy involves a 'risky' maneuver, where the Evader's trajectory comes extremely close to the pursuer's sensing boundary before moving behind the Pursuer. Additionally, we explore a special case in which the Pursuer can choose the final time. In this scenario, we determine a (Nash) equilibrium pair for both the final time and the evasion strategy.