Research Article
Reach-Avoid Games with a Time Limit and Detection Range: A Geometric Approach
| Symbol | Description |
| | Game domain | | The position of at time | | The state of the game | | The set of the game’s terminal states | | The barrier of the game with a time limit and detection range | | The maximum operating time of | | The maximum range of | | The point where enters the detection range | | The polar coordinate of | | The left one of the intersection points of -based Apollonian circle and | | The target line | | The position of at time | | Speed ratio | | The set of the game’s neutral terminal states | | The barrier of the game with a time limit only | | The radius of the defender’s detection range | | The -coordinate of the defender’s initial position | | The point where reaches the boundary of the detection range for the first time | | The polar coordinate of | | The -coordinate of the point |
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