Visibility in motion

We address the problem of determining and obtaining the visibility of a moving target from multiple angles using a mobile robot. The pursuer uses a modified form of pursuit curve in order to reach the aim point (or multiple aim points) which is at a pre-determined distance and angle from the target. Unlike existing works that track a target to localize it, or follow a target by keeping it in the current frame of view generally from behind the target, the focus of our work is on an efficient pursuit of the target such that a certain set of images of it from various orientations can be acquired. We present a method to approach a target in motion from various angles and an analysis of whether the task completion is possible in the cases of a target performing a random walk and an adversarial target.