Evasion in the plane

We consider dynamical systems subject to control by two agents, one of whom desires that no trajectory of the system, emanating from outside a given set, intersects that set no matter what the admissible actions of the other agent. Constructive conditions sufficient to yield a feedback control for the agent seeking avoidance were given earlier. These are employed here to deduce an evader control for the planar pursuit-evasion problem with bounded normal accelerations.