CSCE 452/752 Robotics and Spatial Intelligence, Fall 2025

Homework 15 Solutions

A robot in the environment below wants to solve the pursuit evasion problem we discussed in class.
A pursuit-evasion problem
  1. Divide the environment into conservative regions by drawing the appropriate line segments.
  2. For each dividing segment from the previous answer, add two short arrows that cross the segment in opposite directions and label each arrow according to the gap change that occurs when the robot crosses that segment in that direction. Write S, M, A, or D for split, merge, appear, and disappear, respectively. As an example, you might label a dividing segment that generates split and merge events like this:
    An example of a labeled gap.
  3. Label each conservative region with a number indicating how many gaps exist within that region.