Reach-Avoid Games with a Time Limit and Detection Range: A Geometric Approach

Table 2

The barrier of the reach-avoid game with a time limit and detection range.

Condition		Barrier
		Equation (16)
		Equation (61) and Figure 8
		Equation (62) and Figure 9
		Equation (15) and Figure 2
		Equation (61) and Figure 8
		Equation (65) and Figure 10
		: Equation (67) and Figure 13
		: Equation (15) and Figure 2
		Equation (15) and Figure 2