Publication Date


Document Type


Committee Members

Josh Ash (Committee Member), John M. Emmert (Committee Member), Zachariah Fuchs (Advisor)

Degree Name

Master of Science in Electrical Engineering (MSEE)


Pursuit-evasion scenarios are common in both natural and man-made systems. Often times, the pursuer and evader maneuver in response to each others actions using relative information based on the geometry of the agents and potential obstacles within the environment. The pursuer needs the target's bearing angle in order to plan a trajectory or path to capture it. We propose an FPGA-based infrared sensor array to detect up to 6 agents' bearing angles simultaneously. The final output of the sensor is the bearing angle of other agents. The sensor was tested and validated experimentally. Implementing the sensor and transmitter pair on any group of robots allows them to perform the pursuit-evasion scenarios (or other application) autonomously using local information.

Page Count


Department or Program

Department of Electrical Engineering

Year Degree Awarded