In most pursuit-evasion game formulations, the players can observe
each other’s state (e.g. position) at all times.  However, in some
robotics applications, the pursuer may not have the necessary sensors
to obtain the evader’s position.  We focus on such a scenario and
study a variant of a fundamental pursuit-evasion game, the lion and
man game.

The pursuer can not directly observe the evader’s
location. Instead, it has access to the readings of a bearing-only
sensor such as a camera.  In other words, the pursuer can observe a
ray that contains the evader but cannot measure the location of the
evader on this ray. The main question we seek to answer is whether the
pursuer can capture the evader under this limitation.