Braun, PhilippMolloy, Timothy L.Shames, Iman2026-06-112026-06-110731-5090ORCID:/0000-0002-9619-1483/work/217150124https://hdl.handle.net/1885/733810683A new surveillance-evasion differential game is posed and solved in which an agile pursuer (the prying pedestrian) seeks to remain within a given surveillance range of a less agile evader that aims to escape. In contrast to previous surveillance-evasion games, the pursuer is agile in the sense of being able to instantaneously change the direction of its velocity vector, while the evader is constrained to have a finite maximum turn rate. Both the game of kind, concerned with conditions under which the evader can escape, and the game of degree, concerned with the evader seeking to minimize the escape time while the pursuer seeks to maximize it, are considered. The game-of-degree solution is surprisingly complex compared to solutions to analogous pursuit-evasion games with an agile pursuer because it exhibits dependence on the ratio of the pursuer’s speed to the evader’s speed. It is, however, surprisingly simple compared to solutions to classic surveillance-evasion games with a turn-limited pursuer.The authors are supported by the ANU CIICADA lab and the United States Air Force Office of Scientific Research under grant number FA2386-24-1-4014.15enPublisher Copyright: © 2025 by the American Institute of Aeronautics and Astronautics, Inc. All rights reservedDifferential GamesGame of DegreePursuit Evasion Game202510.2514/1.G008975105015144520