Lion and man with visibility in monotone polygons

Narges Noori, Volkan Isler

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


In the original version of the lion and man game, a lion tries to capture a man who is trying to escape in a circular arena. The players have equal speeds. They can observe each other at all times. We study a new variant of the game in which the lion has only line-of-sight visibility. That is it can observe the man's position only if the line segment connecting them does not intersect the boundary. We show that despite this limitation, the lion can capture the man in any monotone polygon in finite time.

Original languageEnglish (US)
Pages (from-to)155-181
Number of pages27
JournalInternational Journal of Robotics Research
Issue number1
StatePublished - Jan 2014

Bibliographical note

Funding Information:
This work was supported by the National Science Foundation (grant numbers #0916209 and #0917676).


  • adversarial search
  • path planning
  • pursuit evasion games


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