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A Matlab project for planning pursuit-evasion paths in planar simply connected polygonal environments

The implementation is based on the algorithm presented in this paper:

A demonstration of the planner is compiled in PEpaths.exe in a zip in the Downloads folder, where there are also several example environments. The demo also has a built-in environment builder.

The Matlab Runtime 2017a (9.2) necessary to run PEpath.exe can be found here:

This project made extensive use of the planar visibility library at

Thanks to Professor Roberto Tron at Boston University College of Engineering